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_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_11","position":[0.5236705535790473,-2.4816029551800036,0.71338606911949],"aabb_xy":[[0.4931863034520172,-2.5316029549614996],[0.5541548037060775,-2.4316029553985077]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_12","position":[-0.10463694491472686,-1.8613985275440823,0.71338606911949],"aabb_xy":[[-0.16963694279637467,-1.9125221912506234],[-0.03963694703307908,-1.8102748638375417]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_13","position":[-0.6039157070734011,-2.2197343557105804,0.71338606911949],"aabb_xy":[[-0.626831419958451,-2.242638652847004],[-0.5809999941883512,-2.196830058574157]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_14","position":[-0.4595743571370906,0.2231650892790693,0.71338606911949],"aabb_xy":[[-0.4642094722893239,0.21929775420192063],[-0.4549392419848572,0.22703242435621793]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_15","position":[-0.05289291851484834,0.8111314319687173,0.71338606911949],"aabb_xy":[[-0.09039291833188189,0.8064932206575756],[-0.01539291869781477,0.8157696432798592]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_16","position":[-0.2886670952658286,-0.6106076308656041,0.71338606911949],"aabb_xy":[[-0.3386670962163614,-0.6421567778691254],[-0.23866709431529576,-0.5790584838620826]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_17","position":[0.6181487706330671,1.1240252144934169,0.71338606911949],"aabb_xy":[[0.5541487685833352,1.083930731404109],[0.6821487726827992,1.1641196975827248]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_18","position":[-0.2502821907071445,0.29106265069449533,0.71338606911949],"aabb_xy":[[-0.2551257854683745,0.28621099821551127],[-0.24543859594591455,0.2959143031734795]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_19","position":[-0.4372115898042149,1.6115628180130916,0.71338606911949],"aabb_xy":[[-0.44798456372558265,1.5765628197940524],[-0.4264386158828471,1.6465628162321304]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_20","position":[-0.38957925581637404,0.05100610841398767,0.71338606911949],"aabb_xy":[[-0.3968615721930375,-0.03899389519552131],[-0.3822969394397102,0.14100611202349664]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6796018526983805,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7033.png","name":"7033"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7033.png","name":"7033"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6922.png","name":"6922"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","ki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diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00059/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00059/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2d2ccb158118d7bd929fb6cd2fa7334dfeacd59b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00059/resolved_config.yaml @@ -0,0 +1,233 @@ +name: lab3_heat_2beaker_s03_plr_hta_00059 +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. Place beaker a on the heater platform. + Press the heater button to start heating. + layout_id: layout_00059 + reproducibility: + enabled: true + layout_id: layout_00059 + action_seed: 6094896280120794666 + step_seeds: + - 4395343140443178163 + - 1013163405295587576 + - 6847542348524688864 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.2249 + - 0.2249 + 'y': + - 0.2722 + - 0.2722 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.2884 + - 0.2884 + 'y': + - -0.07 + - -0.07 + z: + - 0.0 + - 0.0 + role: source + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.3389 + - 0.3389 + 'y': + - 0.0859 + - 0.0859 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2313 + - 0.2313 + 'y': + - -0.3957 + - -0.3957 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + - name: heat_button + path: /World/heat_device/button + parent_object: heat_device + steps: + - skill: pick + target_object: beaker_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: 0.4 + gripper_distances: 0.018 + 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 + pickz_offset: -0.01 + - skill: place + target_object: heater_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.005 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.045 + retreat_height: 0.15 + retreat_xy: 0.15 + keep_gripper_closed_until_release: true + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + - skill: press + target_object: heat_button + params: + end_effector_euler: + - 0 + - 90 + - 10 + events_dt: + - 0.004 + - 0.02 + - 0.01 + - 0.02 + - 0.01 + - 0.02 + press_distance: 0.04 + gripper_gap: 0.0 + lock_target_position: true + initial_offset_z: 0.2 + press_z_tcp_offset: 0.025 + position_threshold: 0.01 + recreate_motion_controllers_on_reset: true +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00059 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00059/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00059/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c65739fe69d518117ebfcbd58d9c3f7e8a3b5eea --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00059/results/episode_0_success.json @@ -0,0 +1,700 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24972532518698556, + 0.2730009909500123, + 1.1617445238542428 + ], + "current_z": 1.1617445238542428, + "required_z": 0.861106712486876, + "initial_z": 0.761106712486876, + "lift_margin": 0.3006378113673668, + "gripper_z": 1.153028419464856, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24428974637767042, + 0.26790721183854227, + 1.153028419464856 + ], + "object_minus_gripper": [ + 0.005435578809315139, + 0.00509377911147002, + 0.008716104389386858 + ], + "object_to_gripper_xy": 0.007449302157163723, + "object_to_gripper_z": 0.008716104389386858, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24972532518698556, + 0.24865337114759126, + 1.1617445238542428 + ], + "finger_b": [ + 0.23839691030834012, + 0.2730009909500123, + 1.1617445238542428 + ], + "finger_midpoint": [ + 0.24406111774766284, + 0.26082718104880176, + 1.1617445238542428 + ], + "object_minus_finger_midpoint": [ + 0.0056642074393227215, + 0.01217380990121053, + 0.0 + ], + "finger_gap": 0.026854042036646184, + "fingertip_max_gap": 0.09087888616286535, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013427021018323104, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1617445238542428, + "object_top_z": 1.2117287097636433, + "finger_top_clearance": 0.04998418590940057, + "fingertip_min_top_clearance": 0.014995255772820203, + 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diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00000/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00000/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9c7e228fc154caa7dbeb4354be7b9b31b6974348 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00000/resolved_config.yaml @@ -0,0 +1,233 @@ +name: lab3_heat_2beaker_s03_plr_htd_00000 +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. Place beaker b on the heater platform. + Press the heater button to start heating. + layout_id: layout_00000 + reproducibility: + enabled: true + layout_id: layout_00000 + action_seed: 7341943718102437219 + step_seeds: + - 2500273653211418822 + - 70012352371227459 + - 3039154489468777781 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.1854 + - 0.1854 + 'y': + - -0.1327 + - -0.1327 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.1876 + - 0.1876 + 'y': + - 0.0846 + - 0.0846 + z: + - 0.0 + - 0.0 + role: source + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.3491 + - 0.3491 + 'y': + - 0.2901 + - 0.2901 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2675 + - 0.2675 + 'y': + - -0.4012 + - -0.4012 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + - name: heat_button + path: /World/heat_device/button + parent_object: heat_device + steps: + - skill: pick + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.4 + gripper_distances: 0.018 + 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 + pickz_offset: -0.01 + - skill: place + target_object: heater_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.005 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.045 + retreat_height: 0.15 + retreat_xy: 0.15 + keep_gripper_closed_until_release: true + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + - skill: press + target_object: heat_button + params: + end_effector_euler: + - 0 + - 90 + - 10 + events_dt: + - 0.004 + - 0.02 + - 0.01 + - 0.02 + - 0.01 + - 0.02 + press_distance: 0.04 + gripper_gap: 0.0 + lock_target_position: true + initial_offset_z: 0.2 + press_z_tcp_offset: 0.025 + position_threshold: 0.01 + recreate_motion_controllers_on_reset: true +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00000 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00000/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00000/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..93b7893bac537528cc6a9afb03c5add55e0ccded --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00000/results/episode_0_success.json @@ -0,0 +1,700 @@ +{ + "episode": 0, 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"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": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 1, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "4737f2115d5ddc53b81ff5b9833cdf2950175bd1eff85a281fb1b670b761733b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "73343e880d764a5c94998c371f0fe1446ada5269001bda9c7753a18bf2babace", + "visual_seed": 611053870409055161, + "episode_index": 1, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "f4957dc007aa3c673cf94bbcdf4158eb29dbb1c41b8cfe8f352d164f682cbda5" + } +} \ No newline at end of file