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diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00015/resolved_config.yaml b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00015/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a8be136ec19870ad7d827d652d4d73d97428dcbe --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00015/resolved_config.yaml @@ -0,0 +1,291 @@ +name: fast_2beaker_central_longmix_s06_pslpsl_nbo_00015 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker a from home. Shake the current contents of + beaker a once. Place beaker a at inspection platform. Pick up beaker b from home. + Shake the current contents of beaker b once. Place beaker b at home. + layout_id: layout_00015 + reproducibility: + enabled: true + layout_id: layout_00015 + action_seed: 5953257507180844248 + step_seeds: + - 3306441442816909540 + - 577695694772848705 + - 8691107015742857011 + - 9117355114346809315 + - 6370659472176173238 + - 3980825206875595170 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.2528 + - 0.2528 + 'y': + - -0.2048 + - -0.2048 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.3058 + - 0.3058 + 'y': + - 0.028 + - 0.028 + z: + - 0.0 + - 0.0 + role: receiver + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.2358 + - 0.2358 + 'y': + - 0.1886 + - 0.1886 + z: + - 0.0 + - 0.0 + role: placement_target + steps: + - skill: pick + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.3 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + - skill: shake + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + shake_distance: 0.08 + shake_center_offset_z: 0.0 + fallback_height_offset: 0.23 + events_dt: + - 0.04 + - 0.018 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.015 + position_only: true + position_threshold: 0.04 + - skill: place + target_object: inspection_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + position_threshold: 0.015 + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + - 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: beaker_b + target_key: beaker_b_initial_position + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + position_threshold: 0.015 + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00015 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00015/results/episode_0_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00015/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9fd5675fa754bca60a00b0c2957973857988e975 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00015/results/episode_0_success.json @@ -0,0 +1,1335 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2778223799836043, + -0.20264047985099448, + 1.0497596842579568 + ], + "current_z": 1.0497596842579568, + "required_z": 0.8611065741039396, + "initial_z": 0.7611065741039397, + "lift_margin": 0.1886531101540172, + "gripper_z": 1.052624621217758, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.27446051914260355, + -0.20654160212586864, + 1.052624621217758 + ], + "object_minus_gripper": [ + 0.0033618608410007633, + 0.003901122274874158, + -0.0028649369598010566 + ], + "object_to_gripper_xy": 0.005149841096361487, + "object_to_gripper_z": -0.0028649369598010566, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 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"fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": 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"shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], 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diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00017/resolved_config.yaml b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00017/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..828d149077e4c2feff99b60dbb1220a25567ef6f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00017/resolved_config.yaml @@ -0,0 +1,291 @@ +name: fast_2beaker_central_longmix_s06_pslpsl_nbo_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 a from home. Shake the current contents of + beaker a once. Place beaker a at inspection platform. Pick up beaker b from home. + Shake the current contents of beaker b once. Place beaker b at home. + layout_id: layout_00017 + reproducibility: + enabled: true + layout_id: layout_00017 + action_seed: 7849331405013718693 + step_seeds: + - 3030943202933364417 + - 4812653209273302290 + - 2775566628856368117 + - 1287295430061127530 + - 6445898880849385044 + - 8532691702664565117 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.3069 + - 0.3069 + 'y': + - -0.1852 + - -0.1852 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.2653 + - 0.2653 + 'y': + - 0.042 + - 0.042 + z: + - 0.0 + - 0.0 + role: receiver + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.2366 + - 0.2366 + 'y': + - 0.2084 + - 0.2084 + z: + - 0.0 + - 0.0 + role: placement_target + steps: + - skill: pick + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.3 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + - skill: shake + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + shake_distance: 0.08 + shake_center_offset_z: 0.0 + fallback_height_offset: 0.23 + events_dt: + - 0.04 + - 0.018 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.015 + position_only: true + position_threshold: 0.04 + - skill: place + target_object: inspection_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + position_threshold: 0.015 + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + - 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: beaker_b + target_key: beaker_b_initial_position + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + position_threshold: 0.015 + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_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_central_longmix_s06_pslpsl_nbo_00017/results/episode_0_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00017/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..480fcc9d78b65bb3d462da64c3bfc427ab680e56 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00017/results/episode_0_success.json @@ -0,0 +1,1335 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33222269491646217, + -0.18212332334261488, + 1.0532856509103703 + ], + "current_z": 1.0532856509103703, + "required_z": 0.8611066525064037, + "initial_z": 0.7611066525064037, + "lift_margin": 0.19217899840396657, + "gripper_z": 1.0549732856330618, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32858979737885863, + -0.18605442057003627, + 1.0549732856330618 + ], + "object_minus_gripper": [ + 0.003632897537603541, + 0.003931097227421382, + -0.0016876347226915112 + ], + "object_to_gripper_xy": 0.00535270678537186, + "object_to_gripper_z": -0.0016876347226915112, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33222269491646217, + -0.20581215837873304, + 1.0532856509103703 + ], + "finger_b": [ + 0.32223867523996985, + -0.18212332334261488, + 1.0532856509103703 + ], + "finger_midpoint": [ + 0.327230685078216, + -0.19396774086067398, + 1.0532856509103703 + ], + "object_minus_finger_midpoint": [ + 0.004992009838246159, + 0.011844417518059092, + 0.0 + ], + "finger_gap": 0.02570683866734696, + "fingertip_max_gap": 0.09990886221738396, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012853419333673493, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0532856509103703, + "object_top_z": 1.1072482184265295, + "finger_top_clearance": 0.05396256751615924, + "fingertip_min_top_clearance": 0.016188770254847804, + "object_projection_between_fingers": 0.8491610458563726, + "object_to_finger_line_xy": 0.009200267608720029, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05245443110869198, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.427243829651186, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33108277543034254, + -0.18744369720950496, + 1.2468224974554696 + ], + "held_position": [ + 0.3349084417678901, + -0.18364888734736978, + 1.2451921918175812 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00562976032251227, + "max_held_gripper_dist": 0.005636853467442056, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0016303056378883518, + "max_held_gripper_z_dist": 0.0016548919534602469, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08591733314994998, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3349084417678901, + -0.2076145718349814, + 1.2451921918175812 + ], + "held_grasp_finger_b": [ + 0.32663054174668554, + -0.18364888734736978, + 1.2451921918175812 + ], + "held_grasp_midpoint": [ + 0.3307694917572878, + -0.19563172959117558, + 1.2451921918175812 + ], + "held_grasp_object_position": [ + 0.3349084417678901, + -0.18364888734736978, + 1.2451921918175812 + ], + "held_grasp_finger_gap": 0.025355032276075013, + "held_grasp_max_gap": 0.12498316675424576, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02381592502110553, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.017305346456147546, + -0.999728464308493, + -0.01560521180294527 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003935434663557326, + "held_grasp_line_xy_max_dist": 0.04749158337712288, + "held_grasp_object_top_z": 0.04972076788544655, + "held_grasp_top_clearance": 0.037669553447097485, + "held_grasp_min_top_clearance": 0.014916230365633963 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "inspection_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "inspection_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "inspection_platform", + "object_position": [ + 0.22981722643525243, + 0.21058930963201938, + 0.767104603421819 + ], + "target_position": [ + 0.23921756368918834, + 0.21280996678608954, + 0.7158860691194898 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009659071315797305, + "xy_threshold": 0.08, + "gripper_dist": 0.16250091211904236, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.767104603421819, + "min_z": 0.5158860691194898, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07565860844270553, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0867377113883979, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1286403192146434, + "release_required_pad_clearance": 0.053368855694198955, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.7426455670465117, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 173, + "max_placed_release_frames": 173 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "inspection_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "inspection_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", 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diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00018/resolved_config.yaml b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00018/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b11d2dadd1a2d12019814d3d120494aa2e31fafc --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00018/resolved_config.yaml @@ -0,0 +1,291 @@ +name: fast_2beaker_central_longmix_s06_pslpsl_nbo_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 a from home. Shake the current contents of + beaker a once. Place beaker a at inspection platform. Pick up beaker b from home. + Shake the current contents of beaker b once. Place beaker b at home. + layout_id: layout_00018 + reproducibility: + enabled: true + layout_id: layout_00018 + action_seed: 1406198025815128196 + step_seeds: + - 1189232163589316561 + - 5905876406370859880 + - 6158217288182197642 + - 360607720854080798 + - 7207843885784958079 + - 7029016432002647882 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.2707 + - 0.2707 + 'y': + - -0.1851 + - -0.1851 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.27 + - 0.27 + 'y': + - 0.0409 + - 0.0409 + z: + - 0.0 + - 0.0 + role: receiver + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.2451 + - 0.2451 + 'y': + - 0.2123 + - 0.2123 + z: + - 0.0 + - 0.0 + role: placement_target + steps: + - skill: pick + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.3 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + - skill: shake + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + shake_distance: 0.08 + shake_center_offset_z: 0.0 + fallback_height_offset: 0.23 + events_dt: + - 0.04 + - 0.018 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.015 + position_only: true + position_threshold: 0.04 + - skill: place + target_object: inspection_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + position_threshold: 0.015 + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + - 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: beaker_b + target_key: beaker_b_initial_position + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + position_threshold: 0.015 + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_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_central_longmix_s06_pslpsl_nbo_00018/results/episode_0_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00018/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5cb9b34a963a9cf560529cb8a1e3a4ca04a84085 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00018/results/episode_0_success.json @@ -0,0 +1,1335 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.289860056236814, + -0.18064670382252973, + 1.0530577642462124 + ], + "current_z": 1.0530577642462124, + "required_z": 0.8611066833357542, + "initial_z": 0.7611066833357543, + "lift_margin": 0.1919510809104582, + "gripper_z": 1.0558996874323283, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28600769266772436, + -0.18483116495108676, + 1.0558996874323283 + ], + "object_minus_gripper": [ + 0.003852363569089634, + 0.0041844611285570266, + -0.002841923186115869 + ], + "object_to_gripper_xy": 0.005687742962270163, + "object_to_gripper_z": -0.002841923186115869, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 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diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00020/resolved_config.yaml b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00020/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..223f190e501c59e8b004a98aa66b6b66ed450c6e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00020/resolved_config.yaml @@ -0,0 +1,291 @@ +name: fast_2beaker_central_longmix_s06_pslpsl_nbo_00020 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker a from home. Shake the current contents of + beaker a once. Place beaker a at inspection platform. Pick up beaker b from home. + Shake the current contents of beaker b once. Place beaker b at home. + layout_id: layout_00020 + reproducibility: + enabled: true + layout_id: layout_00020 + action_seed: 5991770722474229261 + step_seeds: + - 3028738977928516977 + - 5597848014300184368 + - 589239366799290088 + - 66021878712357332 + - 8110057622979961694 + - 4112354901315350723 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.2824 + - 0.2824 + 'y': + - -0.1632 + - -0.1632 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.3029 + - 0.3029 + 'y': + - 0.0413 + - 0.0413 + z: + - 0.0 + - 0.0 + role: receiver + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.244 + - 0.244 + 'y': + - 0.1965 + - 0.1965 + z: + - 0.0 + - 0.0 + role: placement_target + steps: + - skill: pick + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.3 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + - skill: shake + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + shake_distance: 0.08 + shake_center_offset_z: 0.0 + fallback_height_offset: 0.23 + events_dt: + - 0.04 + - 0.018 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.015 + position_only: true + position_threshold: 0.04 + - skill: place + target_object: inspection_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + position_threshold: 0.015 + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + - 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: beaker_b + target_key: beaker_b_initial_position + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + position_threshold: 0.015 + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00020 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00020/results/episode_0_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00020/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d107fcc198cb94b2204e201fc3385980f5f2915d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00020/results/episode_0_success.json @@ -0,0 +1,1335 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 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diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00022/resolved_config.yaml b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00022/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d6d968ac78d3cf2ad9a979490c670f131d1694aa --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00022/resolved_config.yaml @@ -0,0 +1,291 @@ +name: fast_2beaker_central_longmix_s06_pslpsl_nbo_00022 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker a from home. Shake the current contents of + beaker a once. Place beaker a at inspection platform. Pick up beaker b from home. + Shake the current contents of beaker b once. Place beaker b at home. + layout_id: layout_00022 + reproducibility: + enabled: true + layout_id: layout_00022 + action_seed: 2714716839106178401 + step_seeds: + - 6879855307333582930 + - 3555770340888182057 + - 838946150517897658 + - 4085215967028639945 + - 3243186721587298137 + - 6342366247636855945 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.2781 + - 0.2781 + 'y': + - 0.13 + - 0.13 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.276 + - 0.276 + 'y': + - 0.0154 + - 0.0154 + z: + - 0.0 + - 0.0 + role: receiver + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.2571 + - 0.2571 + 'y': + - -0.1585 + - -0.1585 + z: + - 0.0 + - 0.0 + role: placement_target + steps: + - skill: pick + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.3 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + - skill: shake + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + shake_distance: 0.08 + shake_center_offset_z: 0.0 + fallback_height_offset: 0.23 + events_dt: + - 0.04 + - 0.018 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.015 + position_only: true + position_threshold: 0.04 + - skill: place + target_object: inspection_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + position_threshold: 0.015 + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + - 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: beaker_b + target_key: beaker_b_initial_position + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + position_threshold: 0.015 + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00022 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00022/results/episode_105_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00022/results/episode_105_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a0e91c9776b318c648bb0cfade9d996e75cf4389 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00022/results/episode_105_success.json @@ -0,0 +1,1348 @@ +{ + "episode": 105, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + 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diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00023/resolved_config.yaml b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00023/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0e0e42b46b80083b550f31ffa457eac69f3812d6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00023/resolved_config.yaml @@ -0,0 +1,291 @@ +name: fast_2beaker_central_longmix_s06_pslpsl_nbo_00023 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker a from home. Shake the current contents of + beaker a once. Place beaker a at inspection platform. Pick up beaker b from home. + Shake the current contents of beaker b once. Place beaker b at home. + layout_id: layout_00023 + reproducibility: + enabled: true + layout_id: layout_00023 + action_seed: 816907636393322120 + step_seeds: + - 6025886195317364167 + - 912408632159906142 + - 5099940445753200938 + - 3306769215366559685 + - 7335815437279525119 + - 8505066693774525853 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.2605 + - 0.2605 + 'y': + - 0.1389 + - 0.1389 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.2731 + - 0.2731 + 'y': + - 0.0184 + - 0.0184 + z: + - 0.0 + - 0.0 + role: receiver + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.2537 + - 0.2537 + 'y': + - -0.141 + - -0.141 + z: + - 0.0 + - 0.0 + role: placement_target + steps: + - skill: pick + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.3 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + - skill: shake + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + shake_distance: 0.08 + shake_center_offset_z: 0.0 + fallback_height_offset: 0.23 + events_dt: + - 0.04 + - 0.018 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.015 + position_only: true + position_threshold: 0.04 + - skill: place + target_object: inspection_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + position_threshold: 0.015 + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + - 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: beaker_b + target_key: beaker_b_initial_position + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + position_threshold: 0.015 + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00023 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00023/results/episode_100_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00023/results/episode_100_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0ed95eb7c1ab9ee67f969dc5d3e440ec7008a1f4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00023/results/episode_100_success.json @@ -0,0 +1,1335 @@ +{ + "episode": 100, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + 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diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00024/resolved_config.yaml b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00024/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..42afbc9ac9f6da0366ca7c1c70648fd77162b4c0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00024/resolved_config.yaml @@ -0,0 +1,291 @@ +name: fast_2beaker_central_longmix_s06_pslpsl_nbo_00024 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker a from home. Shake the current contents of + beaker a once. Place beaker a at inspection platform. Pick up beaker b from home. + Shake the current contents of beaker b once. Place beaker b at home. + layout_id: layout_00024 + reproducibility: + enabled: true + layout_id: layout_00024 + action_seed: 4283508074911090697 + step_seeds: + - 624659677329847726 + - 1272775230356696008 + - 6598834107714139108 + - 1327563167362417537 + - 5779863143244602704 + - 5678048688883950092 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.304 + - 0.304 + 'y': + - -0.1026 + - -0.1026 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.2792 + - 0.2792 + 'y': + - 0.005 + - 0.005 + z: + - 0.0 + - 0.0 + role: receiver + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.2364 + - 0.2364 + 'y': + - 0.1917 + - 0.1917 + z: + - 0.0 + - 0.0 + role: placement_target + steps: + - skill: pick + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.3 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + - skill: shake + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + shake_distance: 0.08 + shake_center_offset_z: 0.0 + fallback_height_offset: 0.23 + events_dt: + - 0.04 + - 0.018 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.015 + position_only: true + position_threshold: 0.04 + - skill: place + target_object: inspection_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + position_threshold: 0.015 + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + - 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: beaker_b + target_key: beaker_b_initial_position + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + position_threshold: 0.015 + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00024 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00024/results/episode_101_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00024/results/episode_101_success.json new file mode 100644 index 0000000000000000000000000000000000000000..363984685dcc92e97548ecab7c6e5490f41c079e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00024/results/episode_101_success.json @@ -0,0 +1,1335 @@ +{ + "episode": 101, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3232044707470021, + -0.09871810990131673, + 1.0517730583431786 + ], + "current_z": 1.0517730583431786, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.19066655032841273, + "gripper_z": 1.0551195307014376, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31860353865471897, + -0.10324889360080909, + 1.0551195307014376 + ], + "object_minus_gripper": [ + 0.004600932092283128, + 0.004530783699492363, + -0.003346472358259023 + ], + "object_to_gripper_xy": 0.006457288676324337, + "object_to_gripper_z": -0.003346472358259023, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3232044707470021, + -0.12292953501451305, + 1.0517730583431786 + ], + "finger_b": [ + 0.3120388408185964, + -0.09871810990131673, + 1.0517730583431786 + ], + "finger_midpoint": [ + 0.3176216557827992, + -0.11082382245791489, + 1.0517730583431786 + ], + "object_minus_finger_midpoint": [ + 0.005582814964202876, + 0.012105712556598161, + 0.0 + ], + "finger_gap": 0.02666204038910043, + "fingertip_max_gap": 0.09421770176096386, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013331020194550226, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0517730583431786, + "object_top_z": 1.1022947040143025, + "finger_top_clearance": 0.05052164567112394, + "fingertip_min_top_clearance": 0.015156493701337148, + "object_projection_between_fingers": 0.8246201496379267, + "object_to_finger_line_xy": 0.010139352011625191, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04960885088048193, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.7606786174303775, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32325986596362866, + -0.10281460502755624, + 1.248000870168472 + ], + "held_position": [ + 0.32811197245972384, + -0.09857262138206416, + 1.244586378825777 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007293566605400305, + "max_held_gripper_dist": 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"contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "inspection_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "inspection_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "inspection_platform", + "object_position": [ + 0.2328460773049874, + 0.18734790513196167, + 0.7671052333445776 + ], + "target_position": [ + 0.23947126789353565, + 0.18751444880476192, + 0.7158860691194898 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006627283540753179, + "xy_threshold": 0.08, + "gripper_dist": 0.1649629211964822, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7671052333445776, + "min_z": 0.5158860691194898, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07587900010249571, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0853077615058939, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.13058940844064806, + "release_required_pad_clearance": 0.052653880752946955, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.36043003442896, + "object_max_tilt_deg": 12.0, + 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