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_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_11","position":[0.5840151210219531,1.230536177623649,0.71338606911949],"aabb_xy":[[0.5627371128784807,1.1655361752975757],[0.6052931291654252,1.2955361799497218]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_12","position":[0.2347031403626142,-1.4490449040988798,0.71338606911949],"aabb_xy":[[0.1547031371047712,-1.5290414118908635],[0.31470314362045715,-1.3690483963068956]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_13","position":[0.20096398798654158,-2.0480139734397955,0.71338606911949],"aabb_xy":[[0.18428685199344605,-2.064713897413726],[0.21764112397963706,-2.0313140494658652]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_14","position":[-0.27540516019093625,-0.8151384462809907,0.71338606911949],"aabb_xy":[[-0.3554051634549494,-0.8286984785899042],[-0.19540515692692312,-0.8015784139720775]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_15","position":[0.24606036484648042,0.9676124223203817,0.71338606911949],"aabb_xy":[[0.16606036377336006,0.9578343759829973],[0.32606036591960075,0.9773904686577661]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_16","position":[0.10299136225229255,1.4537900953181286,0.71338606911949],"aabb_xy":[[0.08531573166369422,1.4361098790387257],[0.12066699284089089,1.4714703115975312]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_17","position":[-0.4996323716912777,-2.1406443797242725,0.71338606911949],"aabb_xy":[[-0.504063001046118,-2.1460927514589554],[-0.4952017423364376,-2.1351960079895904]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_18","position":[-0.07472819497000904,-2.176585965418128,0.71338606911949],"aabb_xy":[[-0.1447281976065954,-2.196690830413993],[-0.004728192333422698,-2.156481100422262]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_19","position":[-0.4456623315647473,0.9851472082188777,0.71338606911949],"aabb_xy":[[-0.46316233182408406,0.9710556660301052],[-0.4281623313054108,0.9992387504076504]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_20","position":[0.6244786728953009,-0.3434823486353511,0.71338606911949],"aabb_xy":[[0.5961489629467607,-0.3479430908290682],[0.6528083828438411,-0.3390216064416341]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_21","position":[0.04553607146519345,-2.338567157773988,0.71338606911949],"aabb_xy":[[-0.014463930177728394,-2.390567307065932],[0.1055360731081153,-2.2865670084820438]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_22","position":[-0.38924333144567624,1.119460488894684,0.71338606911949],"aabb_xy":[[-0.438723752659635,1.0554604909818321],[-0.3397629102317174,1.1834604868075358]]},{"name":"st_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diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00014/resolved_config.yaml b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00014/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..36ed0bba5b83094fb9532b93f262d231f5626cd0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00014/resolved_config.yaml @@ -0,0 +1,232 @@ +name: fast_2beaker_dual_target_s03_psl_brq_00014 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker b from home. Shake the current contents of + beaker b once. Place beaker b at heater platform. + layout_id: layout_00014 + reproducibility: + enabled: true + layout_id: layout_00014 + action_seed: 6428506004157355875 + step_seeds: + - 4947227672382490837 + - 8216466612410408910 + - 5552583258780378057 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.1915 + - 0.1915 + 'y': + - 0.0245 + - 0.0245 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.3234 + - 0.3234 + 'y': + - 0.329 + - 0.329 + z: + - 0.0 + - 0.0 + role: source + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.3559 + - 0.3559 + 'y': + - 0.0633 + - 0.0633 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2182 + - 0.2182 + 'y': + - -0.3713 + - -0.3713 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + steps: + - skill: pick + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.3 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + - skill: shake + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + shake_distance: 0.08 + shake_center_offset_z: 0.0 + fallback_height_offset: 0.23 + events_dt: + - 0.04 + - 0.018 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.015 + position_only: true + position_threshold: 0.04 + - skill: place + target_object: heater_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.005 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.045 + retreat_height: 0.15 + retreat_xy: 0.15 + keep_gripper_closed_until_release: true + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + recreate_motion_controllers_on_reset: true +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00014 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00014/results/episode_0_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00014/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1b7e3a5e95990db616d1ec557f7fd90b0b29b908 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00014/results/episode_0_success.json @@ -0,0 +1,686 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + 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"active_contact_pad_positions", + "finger_a": [ + 0.3457749205631548, + 0.306854735208364, + 1.0488129806046664 + ], + "finger_b": [ + 0.33309985628773575, + 0.331479532743997, + 1.0488129806046664 + ], + "finger_midpoint": [ + 0.33943738842544524, + 0.31916713397618046, + 1.0488129806046664 + ], + "object_minus_finger_midpoint": [ + 0.006337532137709545, + 0.012312398767816535, + 0.0 + ], + "finger_gap": 0.02769544923009774, + "fingertip_max_gap": 0.09203936427304119, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013847724615048908, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0488129806046664, + "object_top_z": 1.0950201494763983, + "finger_top_clearance": 0.04620716887173182, + "fingertip_min_top_clearance": 0.013862150661519579, + "object_projection_between_fingers": 0.7905484817654129, + "object_to_finger_line_xy": 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diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00016/resolved_config.yaml b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00016/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6cf89778981ea928684c8e6c62f22245cd6f41ae --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00016/resolved_config.yaml @@ -0,0 +1,232 @@ +name: fast_2beaker_dual_target_s03_psl_brq_00016 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker b from home. Shake the current contents of + beaker b once. Place beaker b at heater platform. + layout_id: layout_00016 + reproducibility: + enabled: true + layout_id: layout_00016 + action_seed: 2891541627295583141 + step_seeds: + - 1164515841808467485 + - 5066845160497422571 + - 1159376154734467498 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.3508 + - 0.3508 + 'y': + - 0.1592 + - 0.1592 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.3318 + - 0.3318 + 'y': + - -0.0513 + - -0.0513 + z: + - 0.0 + - 0.0 + role: source + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.3199 + - 0.3199 + 'y': + - 0.3061 + - 0.3061 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2131 + - 0.2131 + 'y': + - -0.3869 + - -0.3869 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + steps: + - skill: pick + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.3 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + - skill: shake + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + shake_distance: 0.08 + shake_center_offset_z: 0.0 + fallback_height_offset: 0.23 + events_dt: + - 0.04 + - 0.018 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.015 + position_only: true + position_threshold: 0.04 + - skill: place + target_object: heater_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.005 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.045 + retreat_height: 0.15 + retreat_xy: 0.15 + keep_gripper_closed_until_release: true + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + recreate_motion_controllers_on_reset: true +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00016 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00016/results/episode_0_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00016/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4ba46dd03656da4f8a4222e1b298b0fcb0554b53 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00016/results/episode_0_success.json @@ -0,0 +1,686 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + 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diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00017/resolved_config.yaml b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00017/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..32ee1ca66a6ee8f974b8baa7f677c744bd5c8575 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00017/resolved_config.yaml @@ -0,0 +1,232 @@ +name: fast_2beaker_dual_target_s03_psl_brq_00017 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker b from home. Shake the current contents of + beaker b once. Place beaker b at heater platform. + layout_id: layout_00017 + reproducibility: + enabled: true + layout_id: layout_00017 + action_seed: 7849331405013718693 + step_seeds: + - 3030943202933364417 + - 4812653209273302290 + - 2775566628856368117 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.313 + - 0.313 + 'y': + - -0.1163 + - -0.1163 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.3103 + - 0.3103 + 'y': + - 0.0911 + - 0.0911 + z: + - 0.0 + - 0.0 + role: source + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.3551 + - 0.3551 + 'y': + - 0.2967 + - 0.2967 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.244 + - 0.244 + 'y': + - -0.3518 + - -0.3518 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + steps: + - skill: pick + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.3 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + - skill: shake + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + shake_distance: 0.08 + shake_center_offset_z: 0.0 + fallback_height_offset: 0.23 + events_dt: + - 0.04 + - 0.018 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.015 + position_only: true + position_threshold: 0.04 + - skill: place + target_object: heater_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.005 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.045 + retreat_height: 0.15 + retreat_xy: 0.15 + keep_gripper_closed_until_release: true + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + recreate_motion_controllers_on_reset: true +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00017 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00017/results/episode_0_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00017/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f489b832f33d0b89ec6cd5452a07aa83e7e6b1d1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00017/results/episode_0_success.json @@ -0,0 +1,686 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + 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"active_contact_pad_positions", + "finger_a": [ + 0.33264932701288336, + 0.06947014872982989, + 1.0493232470455118 + ], + "finger_b": [ + 0.32093673087935226, + 0.09410945636255526, + 1.0493232470455118 + ], + "finger_midpoint": [ + 0.32679302894611784, + 0.08178980254619257, + 1.0493232470455118 + ], + "object_minus_finger_midpoint": [ + 0.0058562980667655196, + 0.012319653816362686, + 0.0 + ], + "finger_gap": 0.02728150268601945, + "fingertip_max_gap": 0.09603175413670637, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013640751343009712, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0493232470455118, + "object_top_z": 1.097081884714659, + "finger_top_clearance": 0.04775863766914723, + "fingertip_min_top_clearance": 0.014327591300744168, + "object_projection_between_fingers": 0.8156811461779248, + "object_to_finger_line_xy": 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diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00018/resolved_config.yaml b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00018/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0d3a8570188c465fd840b06b1c4a46739ae9e59f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00018/resolved_config.yaml @@ -0,0 +1,232 @@ +name: fast_2beaker_dual_target_s03_psl_brq_00018 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker b from home. Shake the current contents of + beaker b once. Place beaker b at heater platform. + layout_id: layout_00018 + reproducibility: + enabled: true + layout_id: layout_00018 + action_seed: 1406198025815128196 + step_seeds: + - 1189232163589316561 + - 5905876406370859880 + - 6158217288182197642 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.1715 + - 0.1715 + 'y': + - -0.1162 + - -0.1162 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.2414 + - 0.2414 + 'y': + - 0.223 + - 0.223 + z: + - 0.0 + - 0.0 + role: source + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.3375 + - 0.3375 + 'y': + - 0.0699 + - 0.0699 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2577 + - 0.2577 + 'y': + - -0.4082 + - -0.4082 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + steps: + - skill: pick + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.3 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + - skill: shake + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + shake_distance: 0.08 + shake_center_offset_z: 0.0 + fallback_height_offset: 0.23 + events_dt: + - 0.04 + - 0.018 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.015 + position_only: true + position_threshold: 0.04 + - skill: place + target_object: heater_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.005 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.045 + retreat_height: 0.15 + retreat_xy: 0.15 + keep_gripper_closed_until_release: true + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + recreate_motion_controllers_on_reset: true +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00018 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00018/results/episode_0_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00018/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..711792d1b97376ea7272f69dd787a4d9aa408bb9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00018/results/episode_0_success.json @@ -0,0 +1,686 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + 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diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00019/resolved_config.yaml b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00019/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1ad908488bc18b54ad962b33b34c1079b7583c10 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00019/resolved_config.yaml @@ -0,0 +1,232 @@ +name: fast_2beaker_dual_target_s03_psl_brq_00019 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker b from home. Shake the current contents of + beaker b once. Place beaker b at heater platform. + layout_id: layout_00019 + reproducibility: + enabled: true + layout_id: layout_00019 + action_seed: 8051752742403627587 + step_seeds: + - 195572404364726227 + - 5833845954193008508 + - 2804561554099721956 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.1494 + - 0.1494 + 'y': + - 0.2793 + - 0.2793 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.3106 + - 0.3106 + 'y': + - -0.0204 + - -0.0204 + z: + - 0.0 + - 0.0 + role: source + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.3428 + - 0.3428 + 'y': + - 0.2131 + - 0.2131 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2587 + - 0.2587 + 'y': + - -0.3617 + - -0.3617 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + steps: + - skill: pick + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.3 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + - skill: shake + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + shake_distance: 0.08 + shake_center_offset_z: 0.0 + fallback_height_offset: 0.23 + events_dt: + - 0.04 + - 0.018 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.015 + position_only: true + position_threshold: 0.04 + - skill: place + target_object: heater_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.005 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.045 + retreat_height: 0.15 + retreat_xy: 0.15 + keep_gripper_closed_until_release: true + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + recreate_motion_controllers_on_reset: true +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00019 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00019/results/episode_0_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00019/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3f6cb53ce6792dc1fb6f620cad179e377caed440 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00019/results/episode_0_success.json @@ -0,0 +1,686 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + 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"active_contact_pad_positions", + "finger_a": [ + 0.33039664690923587, + -0.03731744764061272, + 1.0461470677128275 + ], + "finger_b": [ + 0.3188596978903199, + -0.013249478455511141, + 1.0461470677128275 + ], + "finger_midpoint": [ + 0.3246281723997779, + -0.02528346304806193, + 1.0461470677128275 + ], + "object_minus_finger_midpoint": [ + 0.005768474509457944, + 0.012033984592550787, + 0.0 + ], + "finger_gap": 0.026690229173989208, + "fingertip_max_gap": 0.09098342216785629, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01334511458699459, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0461470677128275, + "object_top_z": 1.0916262854701682, + "finger_top_clearance": 0.04547921775734065, + "fingertip_min_top_clearance": 0.013643765327202162, + "object_projection_between_fingers": 0.8131567807944801, + "object_to_finger_line_xy": 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