diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..89f70b98293f9bf83f2b735cae36b55ee22a1bbc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/resolved_config.yaml @@ -0,0 +1,233 @@ +name: lab3_heat_2beaker_s03_plr_hta_00029 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker a from home. Place beaker a on the heater platform. + Press the heater button to start heating. + layout_id: layout_00029 + reproducibility: + enabled: true + layout_id: layout_00029 + action_seed: 6098476093969262866 + step_seeds: + - 4958422072777399816 + - 1462235376509235589 + - 5298651874515874446 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.1661 + - 0.1661 + 'y': + - 0.1532 + - 0.1532 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.1439 + - 0.1439 + 'y': + - 0.2858 + - 0.2858 + z: + - 0.0 + - 0.0 + role: source + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.3597 + - 0.3597 + 'y': + - 0.0635 + - 0.0635 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2547 + - 0.2547 + 'y': + - -0.321 + - -0.321 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + - name: heat_button + path: /World/heat_device/button + parent_object: heat_device + steps: + - skill: pick + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.4 + gripper_distances: 0.018 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + pickz_offset: -0.01 + - skill: place + target_object: heater_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.005 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.045 + retreat_height: 0.15 + retreat_xy: 0.15 + keep_gripper_closed_until_release: true + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + - skill: press + target_object: heat_button + params: + end_effector_euler: + - 0 + - 90 + - 10 + events_dt: + - 0.004 + - 0.02 + - 0.01 + - 0.02 + - 0.01 + - 0.02 + press_distance: 0.04 + gripper_gap: 0.0 + lock_target_position: true + initial_offset_z: 0.2 + press_z_tcp_offset: 0.025 + position_threshold: 0.01 + recreate_motion_controllers_on_reset: true +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..800c1efd6c5099d505708ab320b366397b153b52 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_0_success.json @@ -0,0 +1,700 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19198672812023213, + 0.14667702950267097, + 1.1614799648898342 + ], + "current_z": 1.1614799648898342, + "required_z": 0.8611066058345608, + "initial_z": 0.7611066058345608, + "lift_margin": 0.3003733590552734, + "gripper_z": 1.1556014855161407, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18823364796981382, + 0.14244223039674236, + 1.1556014855161407 + ], + "object_minus_gripper": [ + 0.0037530801504183087, + 0.0042347991059286105, + 0.005878479373693457 + ], + "object_to_gripper_xy": 0.005658545226737847, + "object_to_gripper_z": 0.005878479373693457, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19198672812023213, + 0.1230713838096769, + 1.1614799648898342 + ], + "finger_b": [ + 0.1824730417493146, + 0.14667702950267097, + 1.1614799648898342 + ], + "finger_midpoint": [ + 0.18722988493477338, + 0.13487420665617394, + 1.1614799648898342 + ], + "object_minus_finger_midpoint": [ + 0.004756843185458742, + 0.01180282284649703, + 0.0 + ], + "finger_gap": 0.025450672622690174, + "fingertip_max_gap": 0.09013484091034432, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012725336311345077, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1614799648898342, + "object_top_z": 1.2112632342905925, + "finger_top_clearance": 0.04978326940075828, + "fingertip_min_top_clearance": 0.014934980820227449, + "object_projection_between_fingers": 0.860266952294944, + "object_to_finger_line_xy": 0.008823998997414591, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04756742045517216, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.05343742809917746, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 355, + "max_stable_success_frames": 355, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.315681315231791, + -0.3149566056826705, + 0.8515395677538611 + ], + "target_position": [ + 0.3075447653938005, + -0.31628298487936357, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00824395081496266, + "xy_threshold": 0.08, + "gripper_dist": 0.1866106198718143, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395677538611, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07539027003025682, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08541045853539124, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1549235802346891, + "release_required_pad_clearance": 0.05270522926769562, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4647800932882738, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007727861404418945, + "max_z_decrease": 0.007727861404418945, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03518542318276271, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007727861404418945, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02110487671280703, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007727861404418945, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00772787300570186, + "max_button_displacement": 0.12, + "button_start": [ + 0.16324469447135923, + -0.37254443764686584, + 0.7768088579177856 + ], + "button_final": [ + 0.16324469447135923, + -0.37254443764686584, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16434028991266408, + -0.3710039787304882, + 0.8078009087976399 + ], + "closest_button": [ + 0.16323845088481898, + -0.3725516200065613, + 0.7726668119430542 + ], + "closest_ee_minus_button": [ + 0.0011018390278451085, + 0.0015476412760730973, + 0.035134096854585684 + ], + "button_min_z_position": [ + 0.16323158144950864, + -0.3725471496582031, + 0.7690809965133667 + ], + "min_active_finger_to_button": 0.14451355462644894, + "closest_active_finger": [ + 0.037320949137210846, + -0.4346573054790497, + 0.8106443285942078 + ], + "closest_active_finger_button": [ + 0.16324633359909052, + -0.3725467622280121, + 0.7764500975608826 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12592538446187967, + -0.0621105432510376, + 0.034194231033325195 + ], + "min_contact_pad_to_button": 0.02110487671280703, + "closest_contact_pad": [ + 0.16323158144950864, + -0.3725471496582031, + 0.7901858732261737 + ], + "closest_contact_pad_button": [ + 0.16323158144950864, + -0.3725471496582031, + 0.7690809965133667 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02110487671280703 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 0, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a52603914976b77823e3fcf2ed0d4857ce399bd2f5350ce2a800aa2ee07cef94", + "visual_seed": 2628685044635133992, + "episode_index": 0, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_10_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_10_success.json new file mode 100644 index 0000000000000000000000000000000000000000..dfc5475bf7c1587d18e4d3a667f4209a32effb5d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_10_success.json @@ -0,0 +1,700 @@ +{ + "episode": 10, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.195236669727737, + 0.14707971966577474, + 1.1633494744844861 + ], + "current_z": 1.1633494744844861, + "required_z": 0.861106567619411, + "initial_z": 0.761106567619411, + "lift_margin": 0.30224290686507516, + "gripper_z": 1.157634598323131, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19118908863485531, + 0.14259203009192362, + 1.157634598323131 + ], + "object_minus_gripper": [ + 0.004047581092881697, + 0.0044876895738511224, + 0.00571487616135502 + ], + "object_to_gripper_xy": 0.006043365818375176, + "object_to_gripper_z": 0.00571487616135502, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.195236669727737, + 0.12344986307550886, + 1.1633494744844861 + ], + "finger_b": [ + 0.18511098003625973, + 0.14707971966577474, + 1.1633494744844861 + ], + "finger_midpoint": [ + 0.19017382488199835, + 0.1352647913706418, + 1.1633494744844861 + ], + "object_minus_finger_midpoint": [ + 0.0050628448457386566, + 0.011814928295132948, + 0.0 + ], + "finger_gap": 0.025707969857704075, + "fingertip_max_gap": 0.0905154205213406, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01285398492885205, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1633494744844861, + "object_top_z": 1.213206391420737, + "finger_top_clearance": 0.04985691693625083, + "fingertip_min_top_clearance": 0.014957075080875248, + "object_projection_between_fingers": 0.8448636161819475, + "object_to_finger_line_xy": 0.009307175814018567, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0477577102606703, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.2508191951463423, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 355, + "max_stable_success_frames": 355, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.320520999390253, + -0.3222840730231662, + 0.851539550800729 + ], + "target_position": [ + 0.31226735930590277, + -0.3237674321541232, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00838587675519899, + "xy_threshold": 0.08, + "gripper_dist": 0.1846363482727581, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539550800729, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07542267949664097, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08567465945990786, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15302931376808487, + "release_required_pad_clearance": 0.05283732972995393, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7187293146070827, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00783848762512207, + "max_z_decrease": 0.00783848762512207, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035166909171783375, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00783848762512207, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02111968536630826, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00783848762512207, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007838512064731035, + "max_button_displacement": 0.12, + "button_start": [ + 0.167967289686203, + -0.38002890348434454, + 0.7768088579177856 + ], + "button_final": [ + 0.167967289686203, + -0.38002890348434454, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1689669847593496, + -0.37837412729583353, + 0.8075185296571243 + ], + "closest_button": [ + 0.16795675456523895, + -0.38003361225128174, + 0.7724053263664246 + ], + "closest_ee_minus_button": [ + 0.001010230194110645, + 0.0016594849554482094, + 0.03511320329069978 + ], + "button_min_z_position": [ + 0.16794809699058533, + -0.38003274798393255, + 0.7689703702926636 + ], + "min_active_finger_to_button": 0.144565749713597, + "closest_active_finger": [ + 0.04174082726240158, + -0.4415765702724457, + 0.8108402490615845 + ], + "closest_active_finger_button": [ + 0.16797049343585968, + -0.38003152608871466, + 0.7765250205993652 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1262296661734581, + -0.061545044183731024, + 0.03431522846221924 + ], + "min_contact_pad_to_button": 0.02111968536630826, + "closest_contact_pad": [ + 0.16794809699058533, + -0.38003274798393255, + 0.7900900556589718 + ], + "closest_contact_pad_button": [ + 0.16794809699058533, + -0.38003274798393255, + 0.7689703702926636 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02111968536630826 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 10, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8631978c2238159d06fb1a13e953475b79d4bd5ce2e9886ebb5967f9d1fbf2c3", + "visual_seed": 4503645469938372491, + "episode_index": 10, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_11_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_11_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c5f5bb57d4df92fcf577bcd2d3fe2a1f5470fcfb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_11_success.json @@ -0,0 +1,700 @@ +{ + "episode": 11, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19725548365927995, + 0.14819932563027702, + 1.1601149045208496 + ], + "current_z": 1.1601149045208496, + "required_z": 0.8611068060379897, + "initial_z": 0.7611068060379897, + "lift_margin": 0.2990080984828599, + "gripper_z": 1.154325340666489, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1933084583363462, + 0.14383446212344708, + 1.154325340666489 + ], + "object_minus_gripper": [ + 0.003947025322933756, + 0.004364863506829936, + 0.00578956385436058 + ], + "object_to_gripper_xy": 0.005884814553844161, + "object_to_gripper_z": 0.00578956385436058, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19725548365927995, + 0.12440494094572009, + 1.1601149045208496 + ], + "finger_b": [ + 0.1876165493414882, + 0.14819932563027702, + 1.1601149045208496 + ], + "finger_midpoint": [ + 0.19243601650038406, + 0.13630213328799856, + 1.1601149045208496 + ], + "object_minus_finger_midpoint": [ + 0.00481946715889589, + 0.011897192342278456, + 0.0 + ], + "finger_gap": 0.02567258844174815, + "fingertip_max_gap": 0.09055445906399143, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012836294220874074, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1601149045208496, + "object_top_z": 1.2100559309447192, + "finger_top_clearance": 0.04994102642386955, + "fingertip_min_top_clearance": 0.014982307927160864, + "object_projection_between_fingers": 0.8590325887266151, + "object_to_finger_line_xy": 0.008933750939338344, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047777229531995716, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.2396039786791055, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 354, + "max_stable_success_frames": 354, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3114001227481983, + -0.3220936447642504, + 0.8515395781627386 + ], + "target_position": [ + 0.30387995115594313, + -0.3231719724952963, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00759708967121647, + "xy_threshold": 0.08, + "gripper_dist": 0.18316137044073202, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395781627386, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0758529270589933, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08600617772021173, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15044671511791508, + "release_required_pad_clearance": 0.053003088860105865, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0392827325235363, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0074773430824279785, + "max_z_decrease": 0.0074773430824279785, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035236477586144496, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0074773430824279785, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021112476099328766, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0074773430824279785, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007477362520763124, + "max_button_displacement": 0.12, + "button_start": [ + 0.15957987308502197, + -0.37943342328071583, + 0.7768088579177856 + ], + "button_final": [ + 0.15957987308502197, + -0.37943342328071583, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1617383329589422, + -0.3790741446864443, + 0.8048275453676833 + ], + "closest_button": [ + 0.15956154465675354, + -0.3794363439083099, + 0.769660234451294 + ], + "closest_ee_minus_button": [ + 0.002176788302188648, + 0.00036219922186558895, + 0.03516731091638936 + ], + "button_min_z_position": [ + 0.1595631241798401, + -0.37943661212921137, + 0.7693315148353577 + ], + "min_active_finger_to_button": 0.14368834015810805, + "closest_active_finger": [ + 0.03481874614953995, + -0.44198742508888245, + 0.8104871511459351 + ], + "closest_active_finger_button": [ + 0.15958093106746674, + -0.37943619489669794, + 0.7763099670410156 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12476218491792679, + -0.0625512301921845, + 0.034177184104919434 + ], + "min_contact_pad_to_button": 0.021112476099328766, + "closest_contact_pad": [ + 0.1595631241798401, + -0.38025965389742017, + 0.7904279422412601 + ], + "closest_contact_pad_button": [ + 0.1595631241798401, + -0.37943661212921137, + 0.7693315148353577 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0008230417682087987, + 0.02109642740590245 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 11, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "02088b95b640d0cfb605ba36a3d493247980b8a1bcdbf62ec7def414cbeb27b9", + "visual_seed": 852556995128751213, + "episode_index": 11, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_12_success.json new file mode 100644 index 0000000000000000000000000000000000000000..79e114cf7995ffb380c0cc2b8cb7e70652a36939 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_12_success.json @@ -0,0 +1,700 @@ +{ + "episode": 12, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19213939956125636, + 0.1527489599278383, + 1.162135274764563 + ], + "current_z": 1.162135274764563, + "required_z": 0.8611066272240556, + "initial_z": 0.7611066272240556, + "lift_margin": 0.3010286475405074, + "gripper_z": 1.1563276835664735, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18840919833941702, + 0.14838631740883534, + 1.1563276835664735 + ], + "object_minus_gripper": [ + 0.003730201221839341, + 0.004362642519002952, + 0.00580759119808949 + ], + "object_to_gripper_xy": 0.005739952169140796, + "object_to_gripper_z": 0.00580759119808949, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19213939956125636, + 0.12916437393970426, + 1.162135274764563 + ], + "finger_b": [ + 0.18241440709021817, + 0.1527489599278383, + 1.162135274764563 + ], + "finger_midpoint": [ + 0.18727690332573727, + 0.1409566669337713, + 1.162135274764563 + ], + "object_minus_finger_midpoint": [ + 0.004862496235519098, + 0.011792292994067005, + 0.0 + ], + "finger_gap": 0.025510942256087642, + "fingertip_max_gap": 0.09060102433491832, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012755471128043807, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.162135274764563, + "object_top_z": 1.2120447019206586, + "finger_top_clearance": 0.04990942715609559, + "fingertip_min_top_clearance": 0.014972828146828675, + "object_projection_between_fingers": 0.8546799468341542, + "object_to_finger_line_xy": 0.008990648752396604, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04780051216745916, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.25747659974035314, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 363, + "max_stable_success_frames": 363, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.31914696850736674, + -0.3238952907101415, + 0.8515396473048202 + ], + "target_position": [ + 0.3108847856804424, + -0.3255592201119, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008428067757176583, + "xy_threshold": 0.08, + "gripper_dist": 0.1854119144225521, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396473048202, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07531276171693413, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08570889088145338, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15412998390190857, + "release_required_pad_clearance": 0.05285444544072669, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7517303014612453, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007756590843200684, + "max_z_decrease": 0.007756590843200684, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03512609468072551, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007756590843200684, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.0211055989772497, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007756590843200684, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007756614051529289, + "max_button_displacement": 0.12, + "button_start": [ + 0.16658471524715424, + -0.38182067871093744, + 0.7768088579177856 + ], + "button_final": [ + 0.16658471524715424, + -0.38182067871093744, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16578219282913068, + -0.3814091401295341, + 0.8078759484401221 + ], + "closest_button": [ + 0.16657800972461698, + -0.3818310499191283, + 0.7727614045143127 + ], + "closest_ee_minus_button": [ + -0.000795816895486301, + 0.00042190978959422143, + 0.03511454392580937 + ], + "button_min_z_position": [ + 0.16656593978404996, + -0.38182342052459706, + 0.769052267074585 + ], + "min_active_finger_to_button": 0.14667615095731207, + "closest_active_finger": [ + 0.03836370259523392, + -0.4442726671695709, + 0.8108546137809753 + ], + "closest_active_finger_button": [ + 0.16658642888069153, + -0.3818234503269195, + 0.7766066789627075 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1282227262854576, + -0.06244921684265142, + 0.03424793481826782 + ], + "min_contact_pad_to_button": 0.0211055989772497, + "closest_contact_pad": [ + 0.16656593978404996, + -0.3826655922405952, + 0.7901410568689107 + ], + "closest_contact_pad_button": [ + 0.16656593978404996, + -0.38182342052459706, + 0.769052267074585 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0008421717159981523, + 0.021088789794325713 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 12, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a9ec2e1f2be6ff2a4ef61b8960a3d9e156617880307821accf7974e4dc3f10eb", + "visual_seed": 3878544984473484288, + "episode_index": 12, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_13_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_13_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2a6b938ccd2308a98367ec0cbe16afe9ab56d17c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_13_success.json @@ -0,0 +1,700 @@ +{ + "episode": 13, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19725852512538591, + 0.1453470267144431, + 1.1604000688594072 + ], + "current_z": 1.1604000688594072, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 0.2992935012399963, + "gripper_z": 1.1545710311097155, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19326179496402446, + 0.14076749112924342, + 1.1545710311097155 + ], + "object_minus_gripper": [ + 0.003996730161361456, + 0.00457953558519969, + 0.005829037749691679 + ], + "object_to_gripper_xy": 0.006078321985453439, + "object_to_gripper_z": 0.005829037749691679, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19725852512538591, + 0.1218628225481562, + 1.1604000688594072 + ], + "finger_b": [ + 0.1868521370092575, + 0.1453470267144431, + 1.1604000688594072 + ], + "finger_midpoint": [ + 0.1920553310673217, + 0.13360492463129964, + 1.1604000688594072 + ], + "object_minus_finger_midpoint": [ + 0.005203194058064214, + 0.011742102083143469, + 0.0 + ], + "finger_gap": 0.025686587140905773, + "fingertip_max_gap": 0.09079331302998772, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012843293570452906, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1604000688594072, + "object_top_z": 1.2103138939421523, + "finger_top_clearance": 0.04991382508274511, + "fingertip_min_top_clearance": 0.014974147524823532, + "object_projection_between_fingers": 0.835870280300571, + "object_to_finger_line_xy": 0.009514138324884668, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04789665651499386, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.4329008934244243, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 354, + "max_stable_success_frames": 354, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.31789976024115085, + -0.3179782497736524, + 0.8515395813118971 + ], + "target_position": [ + 0.3101432613284036, + -0.31905937220408154, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00783148141113969, + "xy_threshold": 0.08, + "gripper_dist": 0.18530429650572636, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395813118971, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07538475034526272, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0862217810886514, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15375885980746173, + "release_required_pad_clearance": 0.0531108905443257, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.2486464688689922, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007700204849243164, + "max_z_decrease": 0.007700204849243164, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035203269779932975, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007700204849243164, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.0212835381850086, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007700204849243164, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007700226596850387, + "max_button_displacement": 0.12, + "button_start": [ + 0.16584318876266474, + -0.3753208220005035, + 0.7768088579177856 + ], + "button_final": [ + 0.16584318876266474, + -0.3753208220005035, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1676765255824555, + -0.37671706805528177, + 0.8043687747005467 + ], + "closest_button": [ + 0.16582399606704706, + -0.3753246366977691, + 0.7692418694496155 + ], + "closest_ee_minus_button": [ + 0.0018525295154084298, + -0.001392431357512658, + 0.035126905250931206 + ], + "button_min_z_position": [ + 0.16582532227039332, + -0.37532478570938105, + 0.7691086530685425 + ], + "min_active_finger_to_button": 0.14385758248578956, + "closest_active_finger": [ + 0.026958629488945007, + -0.3604166805744171, + 0.810415506362915 + ], + "closest_active_finger_button": [ + 0.16584634780883784, + -0.37532523274421686, + 0.7760215997695923 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13888771831989283, + 0.01490855216979975, + 0.034393906593322754 + ], + "min_contact_pad_to_button": 0.0212835381850086, + "closest_contact_pad": [ + 0.16582532227039332, + -0.37791398719472896, + 0.7902341124325656 + ], + "closest_contact_pad_button": [ + 0.16582532227039332, + -0.37532478570938105, + 0.7691086530685425 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002589201485347914, + 0.021125459364023103 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 13, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "fd815d768c19d2aea9ff4e95a952e66a5da97727a83319bdaca068ac829ea03b", + "visual_seed": 3123926316080937142, + "episode_index": 13, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_14_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_14_success.json new file mode 100644 index 0000000000000000000000000000000000000000..be965737dad347306a5cd85d3144d9965a7bca29 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_14_success.json @@ -0,0 +1,700 @@ +{ + "episode": 14, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19363816729129912, + 0.15267289081650423, + 1.1635816901380243 + ], + "current_z": 1.1635816901380243, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.30247530133254785, + "gripper_z": 1.1577546595926622, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1898012998140608, + 0.14818348011130905, + 1.1577546595926622 + ], + "object_minus_gripper": [ + 0.003836867477238326, + 0.004489410705195179, + 0.005827030545362044 + ], + "object_to_gripper_xy": 0.005905621095008575, + "object_to_gripper_z": 0.005827030545362044, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19363816729129912, + 0.1292498191320694, + 1.1635816901380243 + ], + "finger_b": [ + 0.1834247229830145, + 0.15267289081650423, + 1.1635816901380243 + ], + "finger_midpoint": [ + 0.1885314451371568, + 0.1409613549742868, + 1.1635816901380243 + ], + "object_minus_finger_midpoint": [ + 0.005106722154142318, + 0.01171153584221743, + 0.0 + ], + "finger_gap": 0.025552978921695307, + "fingertip_max_gap": 0.09071160905514683, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012776489460847666, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1635816901380243, + "object_top_z": 1.2135383268662037, + "finger_top_clearance": 0.049956636728179404, + "fingertip_min_top_clearance": 0.014986991018453787, + "object_projection_between_fingers": 0.8402424554681687, + "object_to_finger_line_xy": 0.009362127167679053, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04785580452757342, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.39194368181379574, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 360, + "max_stable_success_frames": 360, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.31762097666417977, + -0.3204736434805844, + 0.8515395642467872 + ], + "target_position": [ + 0.3102260186936551, + -0.3214155147663764, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007454698176641725, + "xy_threshold": 0.08, + "gripper_dist": 0.18393247701337345, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395642467872, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.075155899941156, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08669228800774513, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15292330850562083, + "release_required_pad_clearance": 0.05334614400387257, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.7091001920514048, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007666826248168945, + "max_z_decrease": 0.007666826248168945, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03516751409274767, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007666826248168945, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021150253726567314, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007666826248168945, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0076668470189917085, + "max_button_displacement": 0.12, + "button_start": [ + 0.16592594981193548, + -0.37767696380615234, + 0.7768088579177856 + ], + "button_final": [ + 0.16592594981193548, + -0.37767696380615234, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1673071058721905, + -0.3762689134530778, + 0.8044517107538355 + ], + "closest_button": [ + 0.1659072488546372, + -0.37768107652664185, + 0.769340455532074 + ], + "closest_ee_minus_button": [ + 0.0013998570175532965, + 0.0014121630735640656, + 0.035111255221761506 + ], + "button_min_z_position": [ + 0.16590861976146704, + -0.3776812255382538, + 0.7691420316696167 + ], + "min_active_finger_to_button": 0.14397519854136778, + "closest_active_finger": [ + 0.03989168256521225, + -0.4381731152534485, + 0.8104373216629028 + ], + "closest_active_finger_button": [ + 0.16592945158481603, + -0.37768080830574036, + 0.7760277390480042 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12603776901960378, + -0.06049230694770813, + 0.03440958261489868 + ], + "min_contact_pad_to_button": 0.021150253726567314, + "closest_contact_pad": [ + 0.16590861976146704, + -0.3776812255382538, + 0.790292285396184 + ], + "closest_contact_pad_button": [ + 0.16590861976146704, + -0.3776812255382538, + 0.7691420316696167 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021150253726567314 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 14, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "fea4cd773ac9e45631248e7dfc7c0080a3a98aa8f53a52916101d15829491710", + "visual_seed": 5413420671786848991, + "episode_index": 14, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_15_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_15_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2e62195850bae8bab7cceb8fec70b6ce52ed2c08 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_15_success.json @@ -0,0 +1,700 @@ +{ + "episode": 15, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19281428543208887, + 0.14990748002665327, + 1.1605571366449694 + ], + "current_z": 1.1605571366449694, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.29945062863020355, + "gripper_z": 1.1546424715886354, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18908538882536363, + 0.1455461076365931, + 1.1546424715886354 + ], + "object_minus_gripper": [ + 0.003728896606725235, + 0.004361372390060181, + 0.005914665056333979 + ], + "object_to_gripper_xy": 0.005738138986503048, + "object_to_gripper_z": 0.005914665056333979, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19281428543208887, + 0.1264891717516419, + 1.1605571366449694 + ], + "finger_b": [ + 0.18289111926256113, + 0.14990748002665327, + 1.1605571366449694 + ], + "finger_midpoint": [ + 0.18785270234732498, + 0.1381983258891476, + 1.1605571366449694 + ], + "object_minus_finger_midpoint": [ + 0.004961583084763882, + 0.011709154137505673, + 0.0 + ], + "finger_gap": 0.025433961336990468, + "fingertip_max_gap": 0.09048831503235497, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012716980668495227, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1605571366449694, + "object_top_z": 1.210412735326146, + "finger_top_clearance": 0.049855598681176616, + "fingertip_min_top_clearance": 0.014956679604352985, + "object_projection_between_fingers": 0.8477797207390562, + "object_to_finger_line_xy": 0.009136750714651426, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047744157516177485, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.25188855874641164, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 351, + "max_stable_success_frames": 351, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.318661081977507, + -0.3184906675171961, + 0.851539584586649 + ], + "target_position": [ + 0.3106996097450999, + -0.3197707566815762, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008063725465078279, + "xy_threshold": 0.08, + "gripper_dist": 0.1850855109390607, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539584586649, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07575433043278895, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08525584426176717, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1526121518624868, + "release_required_pad_clearance": 0.05262792213088359, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.31651753221687157, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007692217826843262, + "max_z_decrease": 0.007692217826843262, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035138024902425416, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007692217826843262, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021247428219695524, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007692217826843262, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007692240715879684, + "max_button_displacement": 0.12, + "button_start": [ + 0.1663995385169983, + -0.37603220343589777, + 0.7768088579177856 + ], + "button_final": [ + 0.1663995385169983, + -0.37603220343589777, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16686879934396479, + -0.3772244309988265, + 0.807889056154348 + ], + "closest_button": [ + 0.16639548540115356, + -0.3760426342487334, + 0.7727741003036499 + ], + "closest_ee_minus_button": [ + 0.00047331394281122097, + -0.0011817967500931115, + 0.035114955850698126 + ], + "button_min_z_position": [ + 0.16638104617595673, + -0.3760353922843932, + 0.7691166400909424 + ], + "min_active_finger_to_button": 0.14561928372988506, + "closest_active_finger": [ + 0.02567010372877121, + -0.3611840307712555, + 0.8103536367416382 + ], + "closest_active_finger_button": [ + 0.16640174388885498, + -0.3760367035865783, + 0.7760173678398132 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14073164016008377, + 0.01485267281532282, + 0.03433626890182495 + ], + "min_contact_pad_to_button": 0.021247428219695524, + "closest_contact_pad": [ + 0.16638104617595673, + -0.37849640746595653, + 0.7902210616709627 + ], + "closest_contact_pad_button": [ + 0.16638104617595673, + -0.3760353922843932, + 0.7691166400909424 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0024610151815633308, + 0.02110442158002035 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 15, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "10de9315df1f9a928ecbd75d8459739fe40317a9ab555a14dc70bf4e7b8ae5bc", + "visual_seed": 4413867230774604508, + "episode_index": 15, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_16_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_16_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f38c83ec2667cbe52bea1922b4596f3420bfd2fd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_16_success.json @@ -0,0 +1,700 @@ +{ + "episode": 16, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19231826630198323, + 0.14927444452468508, + 1.1614618591853798 + ], + "current_z": 1.1614618591853798, + "required_z": 0.8611068060379897, + "initial_z": 0.7611068060379897, + "lift_margin": 0.3003550531473901, + "gripper_z": 1.1557124892322457, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1885838929624283, + 0.14506316785036655, + 1.1557124892322457 + ], + "object_minus_gripper": [ + 0.003734373339554925, + 0.0042112766743185315, + 0.005749369953134131 + ], + "object_to_gripper_xy": 0.005628534042433958, + "object_to_gripper_z": 0.005749369953134131, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19231826630198323, + 0.1256164331049869, + 1.1614618591853798 + ], + "finger_b": [ + 0.18292252646172869, + 0.14927444452468508, + 1.1614618591853798 + ], + "finger_midpoint": [ + 0.18762039638185596, + 0.137445438814836, + 1.1614618591853798 + ], + "object_minus_finger_midpoint": [ + 0.004697869920127273, + 0.011829005709849072, + 0.0 + ], + "finger_gap": 0.02545547939993108, + "fingertip_max_gap": 0.09027527077893494, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012727739699965528, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1614618591853798, + "object_top_z": 1.2113151619312656, + "finger_top_clearance": 0.04985330274588584, + "fingertip_min_top_clearance": 0.014955990823765718, + "object_projection_between_fingers": 0.8637616406012273, + "object_to_finger_line_xy": 0.008732285766256556, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04763763538946747, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.10093561407224315, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 356, + "max_stable_success_frames": 356, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3174873246418738, + -0.3243354073270627, + 0.8515395816973005 + ], + "target_position": [ + 0.3096774327430316, + -0.32564333695893277, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007918654645425861, + "xy_threshold": 0.08, + "gripper_dist": 0.18383564746851522, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395816973005, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07572971161351712, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08586017818392237, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15147894261437997, + "release_required_pad_clearance": 0.05293008909196119, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8978678127966846, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007794857025146484, + "max_z_decrease": 0.007794857025146484, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035126275346769764, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007794857025146484, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021271220932733, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007794857025146484, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007794881527218156, + "max_button_displacement": 0.12, + "button_start": [ + 0.16537736356258392, + -0.38190478086471547, + 0.7768088579177856 + ], + "button_final": [ + 0.16537736356258392, + -0.38190478086471547, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1650596929527477, + -0.3831971851965952, + 0.8071381974110239 + ], + "closest_button": [ + 0.16536439955234528, + -0.3819079995155334, + 0.7720369100570679 + ], + "closest_ee_minus_button": [ + -0.00030470659959758173, + -0.0012891856810617885, + 0.03510128735395601 + ], + "button_min_z_position": [ + 0.1653580665588379, + -0.38190788030624384, + 0.7690140008926392 + ], + "min_active_finger_to_button": 0.14628369951279893, + "closest_active_finger": [ + 0.02412322163581848, + -0.3656875491142273, + 0.81035315990448 + ], + "closest_active_finger_button": [ + 0.16537936031818387, + -0.38190883398056025, + 0.7759657502174377 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1412561386823654, + 0.016221284866332952, + 0.034387409687042236 + ], + "min_contact_pad_to_button": 0.021271220932733, + "closest_contact_pad": [ + 0.1653580665588379, + -0.38459810615259366, + 0.7901144161697082 + ], + "closest_contact_pad_button": [ + 0.1653580665588379, + -0.38190788030624384, + 0.7690140008926392 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002690225846349814, + 0.021100415277069073 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 16, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "14c6a43d84e953d50ab99a4239eb67d5554e194e5d45a680a05467814c557201", + "visual_seed": 9167988776843027436, + "episode_index": 16, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_17_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_17_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9b4b8b6c9fbf2c94f8be36482e994a30a2de7930 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_17_success.json @@ -0,0 +1,700 @@ +{ + "episode": 17, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19842756353824362, + 0.14933734189471415, + 1.1598266524964038 + ], + "current_z": 1.1598266524964038, + "required_z": 0.8611063888054766, + "initial_z": 0.7611063888054767, + "lift_margin": 0.2987202636909272, + "gripper_z": 1.1538963777725795, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19443053625597873, + 0.14487125909497992, + 1.1538963777725795 + ], + "object_minus_gripper": [ + 0.003997027282264892, + 0.004466082799734233, + 0.005930274723824347 + ], + "object_to_gripper_xy": 0.00599350670886851, + "object_to_gripper_z": 0.005930274723824347, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19842756353824362, + 0.12568348343793836, + 1.1598266524964038 + ], + "finger_b": [ + 0.1884066685756694, + 0.14933734189471415, + 1.1598266524964038 + ], + "finger_midpoint": [ + 0.1934171160569565, + 0.13751041266632624, + 1.1598266524964038 + ], + "object_minus_finger_midpoint": [ + 0.0050104474812871225, + 0.011826929228387906, + 0.0 + ], + "finger_gap": 0.02568897342721442, + "fingertip_max_gap": 0.09056686423335011, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012844486713607228, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1598266524964038, + "object_top_z": 1.2097498077790991, + "finger_top_clearance": 0.04992315528269531, + "fingertip_min_top_clearance": 0.014976946584808592, + "object_projection_between_fingers": 0.8478333355277088, + "object_to_finger_line_xy": 0.009227026207432635, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04778343211667506, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.29848601806610275, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 354, + "max_stable_success_frames": 354, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3201585214361572, + -0.3227380450842767, + 0.851539647174219 + ], + "target_position": [ + 0.31202912929530346, + -0.3242618635463724, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008270975715427894, + "xy_threshold": 0.08, + "gripper_dist": 0.18487072769501262, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539647174219, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07538599233291608, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0860117380921873, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15321674045834577, + "release_required_pad_clearance": 0.053005869046093654, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0445411841432708, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00783318281173706, + "max_z_decrease": 0.00783318281173706, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035123267467861576, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00783318281173706, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02111641206726277, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00783318281173706, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007833207275394714, + "max_button_displacement": 0.12, + "button_start": [ + 0.16772904992103577, + -0.38052332401275635, + 0.7768088579177856 + ], + "button_final": [ + 0.16772904992103577, + -0.38052332401275635, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1677257808522717, + -0.3795391691011578, + 0.8075124000937643 + ], + "closest_button": [ + 0.1677188277244568, + -0.3805282115936279, + 0.7724030613899231 + ], + "closest_ee_minus_button": [ + 6.9531278149015385e-06, + 0.0009890424924700603, + 0.03510933870384125 + ], + "button_min_z_position": [ + 0.1677098423242569, + -0.3805271089076996, + 0.7689756751060486 + ], + "min_active_finger_to_button": 0.145734082291368, + "closest_active_finger": [ + 0.04029027372598648, + -0.442325621843338, + 0.810836911201477 + ], + "closest_active_finger_button": [ + 0.16773228347301483, + -0.38052603602409363, + 0.7765182852745056 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12744200974702835, + -0.061799585819244385, + 0.034318625926971436 + ], + "min_contact_pad_to_button": 0.02111641206726277, + "closest_contact_pad": [ + 0.1677098423242569, + -0.3808053474797174, + 0.7900902540005348 + ], + "closest_contact_pad_button": [ + 0.1677098423242569, + -0.3805271089076996, + 0.7689756751060486 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0002782385720178082, + 0.021114578894486202 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 17, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "46f49aa3c68be4ba1bd038e54f24a881f299b5337123be1bb2354aa3dd8da254", + "visual_seed": 2355986482886954268, + "episode_index": 17, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_18_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7c942aca7be491d0ee587e0333f18925f1a8169e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_18_success.json @@ -0,0 +1,700 @@ +{ + "episode": 18, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19776397337208482, + 0.1487520245665972, + 1.16260786487865 + ], + "current_z": 1.16260786487865, + "required_z": 0.8611066868287003, + "initial_z": 0.7611066868287003, + "lift_margin": 0.3015011780499497, + "gripper_z": 1.1565871978711613, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19398706339427327, + 0.14451184913762827, + 1.1565871978711613 + ], + "object_minus_gripper": [ + 0.003776909977811549, + 0.004240175428968929, + 0.006020667007488711 + ], + "object_to_gripper_xy": 0.0056783920830569875, + "object_to_gripper_z": 0.006020667007488711, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19776397337208482, + 0.12499426804723786, + 1.16260786487865 + ], + "finger_b": [ + 0.1884164530664671, + 0.1487520245665972, + 1.16260786487865 + ], + "finger_midpoint": [ + 0.19309021321927594, + 0.13687314630691752, + 1.16260786487865 + ], + "object_minus_finger_midpoint": [ + 0.004673760152808876, + 0.011878878259679676, + 0.0 + ], + "finger_gap": 0.025530513717845493, + "fingertip_max_gap": 0.09061585848691978, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012765256858922757, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.16260786487865, + "object_top_z": 1.2125123405424971, + "finger_top_clearance": 0.04990447566384715, + "fingertip_min_top_clearance": 0.01497134269915411, + "object_projection_between_fingers": 0.865947867476552, + "object_to_finger_line_xy": 0.008698458399033514, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04780792924345989, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3293264049399977, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 359, + "max_stable_success_frames": 359, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3157879208970614, + -0.31771536409548407, + 0.8515395945675457 + ], + "target_position": [ + 0.30758994479347246, + -0.3191062387902721, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008315127456125821, + "xy_threshold": 0.08, + "gripper_dist": 0.18470299407458196, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395945675457, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07532546697208765, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08532160410250887, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15323444391298702, + "release_required_pad_clearance": 0.05266080205125444, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3794912588579054, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007432520389556885, + "max_z_decrease": 0.007432520389556885, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035165540083764525, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007432520389556885, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021235925920693594, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007432520389556885, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007432538009955663, + "max_button_displacement": 0.12, + "button_start": [ + 0.163289874792099, + -0.3753677010536194, + 0.7768088579177856 + ], + "button_final": [ + 0.163289874792099, + -0.3753677010536194, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16280883277629665, + -0.3769351082986111, + 0.808221114699964 + ], + "closest_button": [ + 0.16328258812427524, + -0.37537747621536255, + 0.7730932831764221 + ], + "closest_ee_minus_button": [ + -0.00047375534797858276, + -0.0015576320832485502, + 0.03512783152354193 + ], + "button_min_z_position": [ + 0.16327399015426636, + -0.3753708004951477, + 0.7693763375282288 + ], + "min_active_finger_to_button": 0.1464710543275486, + "closest_active_finger": [ + 0.021576330065727234, + -0.3612830936908722, + 0.8106127977371216 + ], + "closest_active_finger_button": [ + 0.1632911115884781, + -0.3753706514835357, + 0.7763749361038208 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14171478152275085, + 0.014087557792663519, + 0.03423786163330078 + ], + "min_contact_pad_to_button": 0.021235925920693594, + "closest_contact_pad": [ + 0.16327399015426636, + -0.3781100847964365, + 0.7904348481884321 + ], + "closest_contact_pad_button": [ + 0.16327399015426636, + -0.3753708004951477, + 0.7693763375282288 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00273928430128878, + 0.021058510660203367 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 18, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0d54388e697526bcc46e9046f37e2ede043fb93b984f32382d679813f6f5dd8b", + "visual_seed": 7702056960007989278, + "episode_index": 18, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_19_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_19_success.json new file mode 100644 index 0000000000000000000000000000000000000000..94aa292235c0f8efd932a63797ade97deedce16b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_19_success.json @@ -0,0 +1,700 @@ +{ + "episode": 19, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19424119217683544, + 0.1461022390566446, + 1.1622607200085713 + ], + "current_z": 1.1622607200085713, + "required_z": 0.8611068060379896, + "initial_z": 0.7611068060379896, + "lift_margin": 0.30115391397058167, + "gripper_z": 1.1565090872050834, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19021729861663164, + 0.14156230037833645, + 1.1565090872050834 + ], + "object_minus_gripper": [ + 0.004023893560203801, + 0.004539938678308153, + 0.005751632803487894 + ], + "object_to_gripper_xy": 0.006066528050429503, + "object_to_gripper_z": 0.005751632803487894, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19424119217683544, + 0.12252802829344255, + 1.1622607200085713 + ], + "finger_b": [ + 0.18398336921777117, + 0.1461022390566446, + 1.1622607200085713 + ], + "finger_midpoint": [ + 0.1891122806973033, + 0.13431513367504358, + 1.1622607200085713 + ], + "object_minus_finger_midpoint": [ + 0.00512891147953215, + 0.01178710538160102, + 0.0 + ], + "finger_gap": 0.02570926574150607, + "fingertip_max_gap": 0.09068673246932402, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012854632870753035, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1622607200085713, + "object_top_z": 1.2121602988437763, + "finger_top_clearance": 0.049899578835205016, + "fingertip_min_top_clearance": 0.014969873650561537, + "object_projection_between_fingers": 0.8408044030370421, + "object_to_finger_line_xy": 0.009405950478709707, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04784336623466201, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3322250936267023, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 356, + "max_stable_success_frames": 356, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3201945243265022, + -0.3159215013954898, + 0.8515395973895731 + ], + "target_position": [ + 0.31168214260979965, + -0.3174944061719154, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008656481498077273, + "xy_threshold": 0.08, + "gripper_dist": 0.18561845837606883, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395973895731, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0751743567281207, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08663936879394839, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1546189342471223, + "release_required_pad_clearance": 0.053319684396974196, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.65701429726123, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00759357213973999, + "max_z_decrease": 0.00759357213973999, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03512427021237248, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00759357213973999, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021371012813301737, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00759357213973999, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007593590736094213, + "max_button_displacement": 0.12, + "button_start": [ + 0.16738206148147583, + -0.3737558722496032, + 0.7768088579177856 + ], + "button_final": [ + 0.16738206148147583, + -0.3737558722496032, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1677168812876943, + -0.3754857350093716, + 0.8074989323826689 + ], + "closest_button": [ + 0.1673713028430939, + -0.3737597465515136, + 0.7724187970161438 + ], + "closest_ee_minus_button": [ + 0.00034557844460039733, + -0.0017259884578579854, + 0.0350801353665251 + ], + "button_min_z_position": [ + 0.16736577451229095, + -0.3737600147724151, + 0.7692152857780457 + ], + "min_active_finger_to_button": 0.14567792498511872, + "closest_active_finger": [ + 0.026737399399280548, + -0.35796910524368286, + 0.8095008134841919 + ], + "closest_active_finger_button": [ + 0.16738595068454745, + -0.3737622201442718, + 0.7749954462051392 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1406485512852669, + 0.015793114900588934, + 0.034505367279052734 + ], + "min_contact_pad_to_button": 0.021371012813301737, + "closest_contact_pad": [ + 0.16736577451229095, + -0.376907741419706, + 0.7903532139078374 + ], + "closest_contact_pad_button": [ + 0.16736577451229095, + -0.3737600147724151, + 0.7692152857780457 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.003147726647290905, + 0.02113792812979176 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 19, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "775d6a9a037602aade48b9406de46fa96a781e1ea8416011665a2495f15b5ff5", + "visual_seed": 1725991733979440859, + "episode_index": 19, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_1_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_1_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b61473200dbbded52279ba4fffccc24a8e54f58b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_1_success.json @@ -0,0 +1,700 @@ +{ + "episode": 1, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.18939387602784505, + 0.1527979456030042, + 1.1606577956691302 + ], + "current_z": 1.1606577956691302, + "required_z": 0.8611066868287003, + "initial_z": 0.7611066868287003, + "lift_margin": 0.2995511088404299, + "gripper_z": 1.155016242663156, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1855590888094527, + 0.14838246329907456, + 1.155016242663156 + ], + "object_minus_gripper": [ + 0.003834787218392338, + 0.00441548230392963, + 0.0056415530059741315 + ], + "object_to_gripper_xy": 0.005848254182801989, + "object_to_gripper_z": 0.0056415530059741315, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18939387602784505, + 0.12938375463198684, + 1.1606577956691302 + ], + "finger_b": [ + 0.17928313352226083, + 0.1527979456030042, + 1.1606577956691302 + ], + "finger_midpoint": [ + 0.18433850477505292, + 0.1410908501174955, + 1.1606577956691302 + ], + "object_minus_finger_midpoint": [ + 0.0050553712527921235, + 0.01170709548550869, + 0.0 + ], + "finger_gap": 0.025503949749823025, + "fingertip_max_gap": 0.09035771690935146, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012751974874911531, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1606577956691302, + "object_top_z": 1.2105082045563358, + "finger_top_clearance": 0.0498504088872056, + "fingertip_min_top_clearance": 0.014955122666161646, + "object_projection_between_fingers": 0.8428366735631871, + "object_to_finger_line_xy": 0.009282282085980599, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04767885845467573, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.18665993660145033, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 354, + "max_stable_success_frames": 354, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.31365259945141977, + -0.3182258498521807, + 0.8515396076590616 + ], + "target_position": [ + 0.30574116554434316, + -0.3194083932897095, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007999324686977253, + "xy_threshold": 0.08, + "gripper_dist": 0.18464922774923906, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396076590616, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0755221566536949, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0858309010368009, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1528283683160476, + "release_required_pad_clearance": 0.05291545051840045, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8695254228543344, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007639467716217041, + "max_z_decrease": 0.007639467716217041, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03514612741876354, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007639467716217041, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02111964987101445, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007639467716217041, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007639494013490952, + "max_button_displacement": 0.12, + "button_start": [ + 0.16144108772277832, + -0.37566983699798584, + 0.7768088579177856 + ], + "button_final": [ + 0.16144108772277832, + -0.37566983699798584, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16166779754458074, + -0.3762373447743085, + 0.8079157363106277 + ], + "closest_button": [ + 0.1614302694797516, + -0.37567722797393793, + 0.772774875164032 + ], + "closest_ee_minus_button": [ + 0.00023752806482915667, + -0.000560116800370547, + 0.03514086114659576 + ], + "button_min_z_position": [ + 0.16142112016677856, + -0.3756715953350067, + 0.7691693902015686 + ], + "min_active_finger_to_button": 0.14585204355084047, + "closest_active_finger": [ + 0.02025085687637329, + -0.3626178503036499, + 0.8107401728630066 + ], + "closest_active_finger_button": [ + 0.16144153475761414, + -0.3756714165210724, + 0.7765697836875916 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14119067788124084, + 0.013053566217422485, + 0.03417038917541504 + ], + "min_contact_pad_to_button": 0.02111964987101445, + "closest_contact_pad": [ + 0.16142112016677856, + -0.3772347725986505, + 0.7902311111074364 + ], + "closest_contact_pad_button": [ + 0.16142112016677856, + -0.3756715953350067, + 0.7691693902015686 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0015631772636438002, + 0.021061720905867776 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 1, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "02856341bacaad2edb7c04d20b57d76956a1d953fae31588b9601c1f96f9e47e", + "visual_seed": 2907734488856009951, + "episode_index": 1, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_20_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_20_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a7275dec692176181157e384524e94ef6a4b9db0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_20_success.json @@ -0,0 +1,700 @@ +{ + "episode": 20, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19214289455151687, + 0.14747320902043246, + 1.1604501710326929 + ], + "current_z": 1.1604501710326929, + "required_z": 0.8611065676194106, + "initial_z": 0.7611065676194106, + "lift_margin": 0.29934360341328226, + "gripper_z": 1.1546949474721737, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18831209445865685, + 0.1429765266199362, + 1.1546949474721737 + ], + "object_minus_gripper": [ + 0.0038308000928600205, + 0.004496682400496249, + 0.005755223560519163 + ], + "object_to_gripper_xy": 0.005907214399561696, + "object_to_gripper_z": 0.005755223560519163, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19214289455151687, + 0.12407605373049564, + 1.1604501710326929 + ], + "finger_b": [ + 0.1818991730211143, + 0.14747320902043246, + 1.1604501710326929 + ], + "finger_midpoint": [ + 0.18702103378631557, + 0.13577463137546406, + 1.1604501710326929 + ], + "object_minus_finger_midpoint": [ + 0.005121860765201297, + 0.0116985776449684, + 0.0 + ], + "finger_gap": 0.02554135287046971, + "fingertip_max_gap": 0.09060897480565913, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012770676435234853, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1604501710326929, + "object_top_z": 1.21031948321584, + "finger_top_clearance": 0.04986931218314705, + "fingertip_min_top_clearance": 0.014960793654944082, + "object_projection_between_fingers": 0.8391475302630659, + "object_to_finger_line_xy": 0.009383760704030812, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04780448740282957, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.32428379260132745, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 350, + "max_stable_success_frames": 350, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.319770910047693, + -0.3168005410157755, + 0.8515396068743265 + ], + "target_position": [ + 0.31199335550598234, + -0.3179341212076342, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007859730192612102, + "xy_threshold": 0.08, + "gripper_dist": 0.18280502652412697, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396068743265, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07543139010527673, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08615894781756127, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15110644269903833, + "release_required_pad_clearance": 0.053079473908780636, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.187604997617084, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0076718926429748535, + "max_z_decrease": 0.0076718926429748535, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0351477293036216, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0076718926429748535, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021293091714893155, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0076718926429748535, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0076719200049956094, + "max_button_displacement": 0.12, + "button_start": [ + 0.16769328713417048, + -0.3741955757141113, + 0.7768088579177856 + ], + "button_final": [ + 0.16769328713417048, + -0.3741955757141113, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16850906083662276, + -0.3756604692118187, + 0.807486958686067 + ], + "closest_button": [ + 0.16768190264701838, + -0.37419974803924555, + 0.7723793387413025 + ], + "closest_ee_minus_button": [ + 0.0008271581896043823, + -0.0014607211725731761, + 0.03510761994476452 + ], + "button_min_z_position": [ + 0.16767309606075284, + -0.37419906258583063, + 0.7691369652748108 + ], + "min_active_finger_to_button": 0.14522201446836022, + "closest_active_finger": [ + 0.02735438197851181, + -0.35967546701431274, + 0.8104276061058044 + ], + "closest_active_finger_button": [ + 0.16769595444202418, + -0.3741996884346008, + 0.7760368585586548 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14034157246351237, + 0.01452422142028803, + 0.03439074754714966 + ], + "min_contact_pad_to_button": 0.021293091714893155, + "closest_contact_pad": [ + 0.16767309606075284, + -0.3769361158680048, + 0.7902534113325496 + ], + "closest_contact_pad_button": [ + 0.16767309606075284, + -0.37419906258583063, + 0.7691369652748108 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002737053282174162, + 0.02111644605773877 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 20, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "33264ebcce0d935c8954e14e87094d259c0a97badbda1246f93dc916fb7cff23", + "visual_seed": 7769363949405745247, + "episode_index": 20, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_21_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_21_success.json new file mode 100644 index 0000000000000000000000000000000000000000..52f3633aa5326f958d5a8156511123078c0f5586 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_21_success.json @@ -0,0 +1,700 @@ +{ + "episode": 21, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19306312272473444, + 0.14801343300123898, + 1.1607407372236236 + ], + "current_z": 1.1607407372236236, + "required_z": 0.8611066868287002, + "initial_z": 0.7611066868287002, + "lift_margin": 0.2996340503949234, + "gripper_z": 1.1549929253066336, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18906898088944205, + 0.14348310979054277, + 1.1549929253066336 + ], + "object_minus_gripper": [ + 0.003994141835292397, + 0.004530323210696213, + 0.005747811916990031 + ], + "object_to_gripper_xy": 0.006039618977535402, + "object_to_gripper_z": 0.005747811916990031, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19306312272473444, + 0.1245188128355733, + 1.1607407372236236 + ], + "finger_b": [ + 0.18275544197769777, + 0.14801343300123898, + 1.1607407372236236 + ], + "finger_midpoint": [ + 0.18790928235121612, + 0.13626612291840615, + 1.1607407372236236 + ], + "object_minus_finger_midpoint": [ + 0.00515384037351832, + 0.011747310082832835, + 0.0 + ], + "finger_gap": 0.025656294726864495, + "fingertip_max_gap": 0.09030631446669832, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012828147363432237, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1607407372236236, + "object_top_z": 1.2106605270089852, + "finger_top_clearance": 0.0499197897853616, + "fingertip_min_top_clearance": 0.014975936935608513, + "object_projection_between_fingers": 0.8385886588170217, + "object_to_finger_line_xy": 0.009439205720029086, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04765315723334916, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.17647278619481122, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 350, + "max_stable_success_frames": 350, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3203632153934355, + -0.32344546304374877, + 0.8515396265389638 + ], + "target_position": [ + 0.31136026911713666, + -0.3253203289926749, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009196095039763647, + "xy_threshold": 0.08, + "gripper_dist": 0.18592767374763852, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396265389638, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07545857099869042, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08606358987790634, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15431967725067242, + "release_required_pad_clearance": 0.05303179493895317, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0950241948592823, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007904589176177979, + "max_z_decrease": 0.007904589176177979, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03512799280553878, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007904589176177979, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021113681356961945, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007904589176177979, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007904611791559778, + "max_button_displacement": 0.12, + "button_start": [ + 0.16706019639968872, + -0.3815817832946776, + 0.7768088579177856 + ], + "button_final": [ + 0.16706019639968872, + -0.3815817832946776, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16767886109741958, + -0.38131363057482964, + 0.8077828905945631 + ], + "closest_button": [ + 0.16705392301082617, + -0.38159281015396107, + 0.772661566734314 + ], + "closest_ee_minus_button": [ + 0.0006249380865934184, + 0.00027917957913142777, + 0.03512132386024913 + ], + "button_min_z_position": [ + 0.16704158484935763, + -0.38158512115478505, + 0.7689042687416077 + ], + "min_active_finger_to_button": 0.14549370680490795, + "closest_active_finger": [ + 0.04064296931028366, + -0.4449443817138672, + 0.8107280731201172 + ], + "closest_active_finger_button": [ + 0.1670622825622559, + -0.38158491253852833, + 0.7764913439750671 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12641931325197223, + -0.06335946917533886, + 0.03423672914505005 + ], + "min_contact_pad_to_button": 0.021113681356961945, + "closest_contact_pad": [ + 0.16704158484935763, + -0.38246747050123886, + 0.7899995051724736 + ], + "closest_contact_pad_button": [ + 0.16704158484935763, + -0.38158512115478505, + 0.7689042687416077 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0008823493464538146, + 0.02109523643086597 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 21, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4a3ec4779a1f3d3e27f92817fbd80223010751e5e0d4b298da9d3e9a278b2f74", + "visual_seed": 6528926592294413275, + "episode_index": 21, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_22_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_22_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a45aabbcd2ed0bae4e60ca235de07c04fdf63216 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_22_success.json @@ -0,0 +1,700 @@ +{ + "episode": 22, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.1899328593538433, + 0.15178343645518125, + 1.1627944181153556 + ], + "current_z": 1.1627944181153556, + "required_z": 0.8611066272240557, + "initial_z": 0.7611066272240558, + "lift_margin": 0.3016877908912998, + "gripper_z": 1.156837976960535, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18629615809782207, + 0.14747444798957207, + 1.156837976960535 + ], + "object_minus_gripper": [ + 0.003636701256021224, + 0.004308988465609176, + 0.005956441154820524 + ], + "object_to_gripper_xy": 0.005638526192392767, + "object_to_gripper_z": 0.005956441154820524, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1899328593538433, + 0.12842508539861108, + 1.1627944181153556 + ], + "finger_b": [ + 0.18009341702480985, + 0.15178343645518125, + 1.1627944181153556 + ], + "finger_midpoint": [ + 0.18501313818932658, + 0.14010426092689615, + 1.1627944181153556 + ], + "object_minus_finger_midpoint": [ + 0.004919721164516722, + 0.011679175528285096, + 0.0 + ], + "finger_gap": 0.025346147427732436, + "fingertip_max_gap": 0.09052269923790496, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01267307371386623, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1627944181153556, + "object_top_z": 1.2126489908255351, + "finger_top_clearance": 0.04985457271017957, + "fingertip_min_top_clearance": 0.01495637181305387, + "object_projection_between_fingers": 0.8492986801624574, + "object_to_finger_line_xy": 0.009067774452813612, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04776134961895248, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.29304807749927936, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 353, + "max_stable_success_frames": 353, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32019822922216457, + -0.321809309670537, + 0.8515396067685963 + ], + "target_position": [ + 0.31226465899557965, + -0.32299072691362696, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008021052502161107, + "xy_threshold": 0.08, + "gripper_dist": 0.18402835409162066, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396067685963, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07515790155505861, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08676087246694374, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15308780387475443, + "release_required_pad_clearance": 0.05338043623347187, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.7764675977906383, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007794082164764404, + "max_z_decrease": 0.007794082164764404, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03515136597975974, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007794082164764404, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021116748474118374, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007794082164764404, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007794103629917202, + "max_button_displacement": 0.12, + "button_start": [ + 0.16796457767486575, + -0.37925219535827637, + 0.7768088579177856 + ], + "button_final": [ + 0.16796457767486575, + -0.37925219535827637, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16880083665479895, + -0.3778887831034924, + 0.8076225119018094 + ], + "closest_button": [ + 0.16795389354228973, + -0.3792577385902404, + 0.7725080251693726 + ], + "closest_ee_minus_button": [ + 0.0008469431125092131, + 0.0013689554867480358, + 0.03511448673243689 + ], + "button_min_z_position": [ + 0.1679466813802719, + -0.37925598025321955, + 0.7690147757530212 + ], + "min_active_finger_to_button": 0.1448355924259206, + "closest_active_finger": [ + 0.04164215177297592, + -0.4412432610988617, + 0.8108665347099304 + ], + "closest_active_finger_button": [ + 0.1679677814245224, + -0.3792549967765808, + 0.776564359664917 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12632562965154648, + -0.061988264322280884, + 0.03430217504501343 + ], + "min_contact_pad_to_button": 0.021116748474118374, + "closest_contact_pad": [ + 0.1679466813802719, + -0.37925598025321955, + 0.7901315242271396 + ], + "closest_contact_pad_button": [ + 0.1679466813802719, + -0.37925598025321955, + 0.7690147757530212 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021116748474118374 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 22, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b091577bba702c1dcdeb1e6293f06a77ab9f942c3267283c83519f1639219e26", + "visual_seed": 1447401826794152946, + "episode_index": 22, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_23_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b271e2a2269a1ae8336def17bda44f5d3ef60b09 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_23_success.json @@ -0,0 +1,700 @@ +{ + "episode": 23, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19674795438475756, + 0.1466421580875132, + 1.1627562149033492 + ], + "current_z": 1.1627562149033492, + "required_z": 0.8611066272240554, + "initial_z": 0.7611066272240554, + "lift_margin": 0.30164958767929384, + "gripper_z": 1.156746244985947, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1928132450820705, + 0.1422190136225543, + 1.156746244985947 + ], + "object_minus_gripper": [ + 0.0039347093026870505, + 0.0044231444649589224, + 0.006009969917402325 + ], + "object_to_gripper_xy": 0.005919978399838023, + "object_to_gripper_z": 0.006009969917402325, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19674795438475756, + 0.1230165922984709, + 1.1627562149033492 + ], + "finger_b": [ + 0.1868093663322694, + 0.1466421580875132, + 1.1627562149033492 + ], + "finger_midpoint": [ + 0.1917786603585135, + 0.13482937519299204, + 1.1627562149033492 + ], + "object_minus_finger_midpoint": [ + 0.0049692940262440755, + 0.011812782894521173, + 0.0 + ], + "finger_gap": 0.025630897201023357, + "fingertip_max_gap": 0.09077837885883605, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012815448600511693, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1627562149033492, + "object_top_z": 1.2126459090366193, + "finger_top_clearance": 0.049889694133270046, + "fingertip_min_top_clearance": 0.014966908239981013, + "object_projection_between_fingers": 0.8496436542951664, + "object_to_finger_line_xy": 0.009161004550198654, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04788918942941803, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.413587312878184, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 357, + "max_stable_success_frames": 357, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3157990393594159, + -0.32074928158912963, + 0.8515395867543204 + ], + "target_position": [ + 0.30768892566162914, + -0.3220436381761019, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008212752471934526, + "xy_threshold": 0.08, + "gripper_dist": 0.18344533776610725, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395867543204, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754402930576403, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08594213825559742, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15167618263753058, + "release_required_pad_clearance": 0.05297106912779871, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9771785175057383, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007630050182342529, + "max_z_decrease": 0.007630050182342529, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03520255582017472, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007630050182342529, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02108598932057695, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007630050182342529, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007630070728508316, + "max_button_displacement": 0.12, + "button_start": [ + 0.16338884830474854, + -0.37830510735511774, + 0.7768088579177856 + ], + "button_final": [ + 0.16338884830474854, + -0.37830510735511774, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16531521777567612, + -0.3773978102792541, + 0.8080570677754467 + ], + "closest_button": [ + 0.16337990760803223, + -0.37831482291221613, + 0.7729197144508362 + ], + "closest_ee_minus_button": [ + 0.0019353101676438944, + 0.000917012632962011, + 0.03513735332461054 + ], + "button_min_z_position": [ + 0.16337139904499054, + -0.3783081173896789, + 0.7691788077354431 + ], + "min_active_finger_to_button": 0.14405968158570465, + "closest_active_finger": [ + 0.0387076735496521, + -0.44187086820602417, + 0.8109465837478638 + ], + "closest_active_finger_button": [ + 0.16339127719402313, + -0.37830722332000727, + 0.7767873406410217 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12468360364437103, + -0.0635636448860169, + 0.03415924310684204 + ], + "min_contact_pad_to_button": 0.02108598932057695, + "closest_contact_pad": [ + 0.16337139904499054, + -0.378454387608926, + 0.7902642897230678 + ], + "closest_contact_pad_button": [ + 0.16337139904499054, + -0.3783081173896789, + 0.7691788077354431 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00014627021924712436, + 0.02108548198762472 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 23, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1cf7e5ac0e6ed5a2c2eb35e87589c704f1639f39f74d48d4875b97fe7cf6a008", + "visual_seed": 5839483461700210389, + "episode_index": 23, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_24_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_24_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c5372c1ae20265820bc0ac3211e4febd9b50d80f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_24_success.json @@ -0,0 +1,700 @@ +{ + "episode": 24, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19634361768675396, + 0.15014574131362377, + 1.1628691764645203 + ], + "current_z": 1.1628691764645203, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.3017626684497543, + "gripper_z": 1.1569643809623082, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1923656921985086, + 0.14569851958367452, + 1.1569643809623082 + ], + "object_minus_gripper": [ + 0.003977925488245354, + 0.004447221729949241, + 0.0059047955022120124 + ], + "object_to_gripper_xy": 0.005966713693932763, + "object_to_gripper_z": 0.0059047955022120124, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19634361768675396, + 0.12642910936982285, + 1.1628691764645203 + ], + "finger_b": [ + 0.18644642710179182, + 0.15014574131362377, + 1.1628691764645203 + ], + "finger_midpoint": [ + 0.1913950223942729, + 0.1382874253417233, + 1.1628691764645203 + ], + "object_minus_finger_midpoint": [ + 0.004948595292481067, + 0.011858315971900457, + 0.0 + ], + "finger_gap": 0.025698891264659282, + "fingertip_max_gap": 0.09068214205818179, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012849445632329641, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1628691764645203, + "object_top_z": 1.2129057337928308, + "finger_top_clearance": 0.05003655732831058, + "fingertip_min_top_clearance": 0.015010967198493173, + "object_projection_between_fingers": 0.851681579114435, + "object_to_finger_line_xy": 0.00913378028506594, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047841071029090895, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.03689601286987412, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 360, + "max_stable_success_frames": 360, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3208937071383907, + -0.3163765226520946, + 0.8515395637477987 + ], + "target_position": [ + 0.31209632529606346, + -0.31820380860419567, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008985148926448312, + "xy_threshold": 0.08, + "gripper_dist": 0.1843013359346616, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395637477987, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07538318064877506, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08520831690322571, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15284112094287394, + "release_required_pad_clearance": 0.052604158451612856, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.2712418561029549, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007484614849090576, + "max_z_decrease": 0.007484614849090576, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0351949664639594, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007484614849090576, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021098220778154375, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007484614849090576, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007484634780365423, + "max_button_displacement": 0.12, + "button_start": [ + 0.16779625415801996, + -0.3744652569293976, + 0.7768088579177856 + ], + "button_final": [ + 0.16779625415801996, + -0.3744652569293976, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16693565334229163, + -0.3724024749253322, + 0.8081663157544428 + ], + "closest_button": [ + 0.16779065132141108, + -0.3744744658470153, + 0.7730427980422974 + ], + "closest_ee_minus_button": [ + -0.0008549979791194484, + 0.0020719909216831423, + 0.03512351771214539 + ], + "button_min_z_position": [ + 0.16777940094470972, + -0.3744690418243408, + 0.7693242430686951 + ], + "min_active_finger_to_button": 0.14601609908475793, + "closest_active_finger": [ + 0.039946138858795166, + -0.4361332058906555, + 0.810555636882782 + ], + "closest_active_finger_button": [ + 0.16779823601245875, + -0.3744679391384125, + 0.776322066783905 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12785209715366358, + -0.06166526675224304, + 0.03423357009887695 + ], + "min_contact_pad_to_button": 0.021098220778154375, + "closest_contact_pad": [ + 0.16777940094470972, + -0.3744690418243408, + 0.7904224638468494 + ], + "closest_contact_pad_button": [ + 0.16777940094470972, + -0.3744690418243408, + 0.7693242430686951 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021098220778154375 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 24, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1575f57d5adfd94c87663377916780a1e83b274d4fca4476df84953d186de4cd", + "visual_seed": 8191733317922308207, + "episode_index": 24, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_25_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d391f59e4ef02afacd9a5fc4ce5e7f65ad4dd381 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_25_success.json @@ -0,0 +1,700 @@ +{ + "episode": 25, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19668262064476677, + 0.15162936364035054, + 1.1610484654394482 + ], + "current_z": 1.1610484654394482, + "required_z": 0.8611068656426347, + "initial_z": 0.7611068656426347, + "lift_margin": 0.29994159979681345, + "gripper_z": 1.155327731125969, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1926982150094765, + 0.1472315670411341, + 1.155327731125969 + ], + "object_minus_gripper": [ + 0.003984405635290261, + 0.004397796599216436, + 0.005720734313479081 + ], + "object_to_gripper_xy": 0.005934315730950995, + "object_to_gripper_z": 0.005720734313479081, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19668262064476677, + 0.1278782036126821, + 1.1610484654394482 + ], + "finger_b": [ + 0.1869029061557872, + 0.15162936364035054, + 1.1610484654394482 + ], + "finger_midpoint": [ + 0.19179276340027698, + 0.1397537836265163, + 1.1610484654394482 + ], + "object_minus_finger_midpoint": [ + 0.004889857244489787, + 0.011875580013834236, + 0.0 + ], + "finger_gap": 0.025685801878584057, + "fingertip_max_gap": 0.09054659100062518, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01284290093929204, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1610484654394482, + "object_top_z": 1.2109811671859725, + "finger_top_clearance": 0.04993270174652431, + "fingertip_min_top_clearance": 0.014979810523957292, + "object_projection_between_fingers": 0.8550340201451574, + "object_to_finger_line_xy": 0.009043111246853022, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04777329550031259, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.2556092135346361, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 358, + "max_stable_success_frames": 358, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3154077693722499, + -0.3242594964249475, + 0.8515395599706721 + ], + "target_position": [ + 0.3065999454825429, + -0.3258575136868989, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008951615543665201, + "xy_threshold": 0.08, + "gripper_dist": 0.18404748732086373, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395599706721, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07571966956380914, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08540696780633676, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1518043448106224, + "release_required_pad_clearance": 0.05270348390316838, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4613998243344783, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007580816745758057, + "max_z_decrease": 0.007580816745758057, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03516608858948473, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007580816745758057, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021071855480487067, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007580816745758057, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007580841033551586, + "max_button_displacement": 0.12, + "button_start": [ + 0.1622998714447021, + -0.3821189701557159, + 0.7768088579177856 + ], + "button_final": [ + 0.1622998714447021, + -0.3821189701557159, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1621937423970829, + -0.3807363063394158, + 0.8081081363054194 + ], + "closest_button": [ + 0.16228985786437986, + -0.3821263611316681, + 0.772969663143158 + ], + "closest_ee_minus_button": [ + -9.611546729695886e-05, + 0.0013900547922522932, + 0.035138473162261485 + ], + "button_min_z_position": [ + 0.16228088736534116, + -0.3821217715740204, + 0.7692280411720276 + ], + "min_active_finger_to_button": 0.14560842559915477, + "closest_active_finger": [ + 0.03523440659046173, + -0.44448214769363403, + 0.8109747767448425 + ], + "closest_active_finger_button": [ + 0.16229942440986633, + -0.38212051987648005, + 0.7768086791038513 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1270650178194046, + -0.062361627817153986, + 0.03416609764099121 + ], + "min_contact_pad_to_button": 0.021071855480487067, + "closest_contact_pad": [ + 0.16228088736534116, + -0.3821217715740204, + 0.7902998966525147 + ], + "closest_contact_pad_button": [ + 0.16228088736534116, + -0.3821217715740204, + 0.7692280411720276 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021071855480487067 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 25, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6c715312dabc3136823b018a349747f5aae72610750f50938962cd9c772afaad", + "visual_seed": 2039174553367771448, + "episode_index": 25, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_26_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_26_success.json new file mode 100644 index 0000000000000000000000000000000000000000..caad68926c1b925d2d6d9ad4dca595bec0552d39 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_26_success.json @@ -0,0 +1,700 @@ +{ + "episode": 26, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19794172614324312, + 0.14685891587863634, + 1.1598823844591037 + ], + "current_z": 1.1598823844591037, + "required_z": 0.8611066272240557, + "initial_z": 0.7611066272240558, + "lift_margin": 0.298775757235048, + "gripper_z": 1.1540465613116477, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19368930848509175, + 0.14235151710170668, + 1.1540465613116477 + ], + "object_minus_gripper": [ + 0.004252417658151375, + 0.004507398776929655, + 0.00583582314745601 + ], + "object_to_gripper_xy": 0.006196749121404269, + "object_to_gripper_z": 0.00583582314745601, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19794172614324312, + 0.12334600014090763, + 1.1598823844591037 + ], + "finger_b": [ + 0.18742876812306267, + 0.14685891587863634, + 1.1598823844591037 + ], + "finger_midpoint": [ + 0.19268524713315288, + 0.135102458009772, + 1.1598823844591037 + ], + "object_minus_finger_midpoint": [ + 0.0052564790100902425, + 0.01175645786886434, + 0.0 + ], + "finger_gap": 0.025756154464974132, + "fingertip_max_gap": 0.09139429956161671, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012878077232487059, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1598823844591037, + "object_top_z": 1.2103038063016842, + "finger_top_clearance": 0.05042142184258047, + "fingertip_min_top_clearance": 0.01512642655277414, + "object_projection_between_fingers": 0.8333950815035752, + "object_to_finger_line_xy": 0.00959732930701815, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04819714978080836, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.34515845629470276, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 349, + "max_stable_success_frames": 349, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3123537166551844, + -0.32109801202043964, + 0.8515395027924707 + ], + "target_position": [ + 0.30414906756891824, + -0.32238495472192985, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008304967678786428, + "xy_threshold": 0.08, + "gripper_dist": 0.18488821628563507, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395027924707, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0756217719958285, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08540695689496768, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15279090237268558, + "release_required_pad_clearance": 0.05270347844748384, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.46139982466387464, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0074214935302734375, + "max_z_decrease": 0.0074214935302734375, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03515281340221914, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0074214935302734375, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021197394380606388, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0074214935302734375, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007421510629288937, + "max_button_displacement": 0.12, + "button_start": [ + 0.15984898805618286, + -0.3786464035511017, + 0.7768088579177856 + ], + "button_final": [ + 0.15984898805618286, + -0.3786464035511017, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1592133306087171, + -0.37975163802199147, + 0.8082147950864071 + ], + "closest_button": [ + 0.15984082221984863, + -0.3786548376083374, + 0.7730847001075745 + ], + "closest_ee_minus_button": [ + -0.0006274916111315421, + -0.0010968004136540643, + 0.03513009497883268 + ], + "button_min_z_position": [ + 0.15983332693576813, + -0.3786493241786957, + 0.7693873643875122 + ], + "min_active_finger_to_button": 0.14664609231750642, + "closest_active_finger": [ + 0.018134772777557373, + -0.3628179430961609, + 0.8105848431587219 + ], + "closest_active_finger_button": [ + 0.15984977781772614, + -0.37864959239959717, + 0.7763606905937195 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14171500504016876, + 0.01583164930343628, + 0.03422415256500244 + ], + "min_contact_pad_to_button": 0.021197394380606388, + "closest_contact_pad": [ + 0.15983332693576813, + -0.38105618631922666, + 0.7904476716778497 + ], + "closest_contact_pad_button": [ + 0.15983332693576813, + -0.3786493241786957, + 0.7693873643875122 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0024068621405309854, + 0.021060307290337477 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 26, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "25fec6f2c20aa22e4739432506a0cf9c3cafcdd69c4f92f9b865fca59f569059", + "visual_seed": 4406740712504849041, + "episode_index": 26, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_27_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_27_success.json new file mode 100644 index 0000000000000000000000000000000000000000..69e47fdbe6b4e15f7b0af7b6caea2fbadefe467e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_27_success.json @@ -0,0 +1,700 @@ +{ + "episode": 27, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.1929240929599793, + 0.15104910235750788, + 1.1612477521784084 + ], + "current_z": 1.1612477521784084, + "required_z": 0.8611066868287003, + "initial_z": 0.7611066868287003, + "lift_margin": 0.3001410653497081, + "gripper_z": 1.1552993175377642, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1890248555232466, + 0.14664793350189537, + 1.1552993175377642 + ], + "object_minus_gripper": [ + 0.0038992374367327054, + 0.004401168855612508, + 0.005948434640644207 + ], + "object_to_gripper_xy": 0.005879994888061669, + "object_to_gripper_z": 0.005948434640644207, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1929240929599793, + 0.12735313708272208, + 1.1612477521784084 + ], + "finger_b": [ + 0.1831444299089331, + 0.15104910235750788, + 1.1612477521784084 + ], + "finger_midpoint": [ + 0.1880342614344562, + 0.13920111972011498, + 1.1612477521784084 + ], + "object_minus_finger_midpoint": [ + 0.004889831525523108, + 0.011847982637392895, + 0.0 + ], + "finger_gap": 0.025634753357421883, + "fingertip_max_gap": 0.09119815286255142, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012817376678710942, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1612477521784084, + "object_top_z": 1.2115487081908372, + "finger_top_clearance": 0.05030095601242879, + "fingertip_min_top_clearance": 0.015090286803728635, + "object_projection_between_fingers": 0.8544576117392341, + "object_to_finger_line_xy": 0.009040015046199093, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048099076431275714, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.1593130488258541, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 355, + "max_stable_success_frames": 355, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.317417470172891, + -0.3203105306711904, + 0.8515395635757642 + ], + "target_position": [ + 0.3093026325372671, + -0.3216741172567974, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008228606092710105, + "xy_threshold": 0.08, + "gripper_dist": 0.1850915010303915, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395635757642, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0756043219328186, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08498256626946309, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15291757083650645, + "release_required_pad_clearance": 0.052491283134731545, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.05595290809355403, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007551908493041992, + "max_z_decrease": 0.007551908493041992, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035167871346874914, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007551908493041992, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021167642714556904, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007551908493041992, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007551926527674157, + "max_button_displacement": 0.12, + "button_start": [ + 0.16500255465507507, + -0.37793558835983265, + 0.7768088579177856 + ], + "button_final": [ + 0.16500255465507507, + -0.37793558835983265, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16399566383932696, + -0.3792775078252548, + 0.8081243506303974 + ], + "closest_button": [ + 0.16499419510364532, + -0.3779427111148833, + 0.7729960083961487 + ], + "closest_ee_minus_button": [ + -0.0009985312643183697, + -0.0013347967103715108, + 0.035128342234248766 + ], + "button_min_z_position": [ + 0.16498605906963348, + -0.37793612480163563, + 0.7692569494247437 + ], + "min_active_finger_to_button": 0.14699324703780495, + "closest_active_finger": [ + 0.022600561380386353, + -0.36528125405311584, + 0.810444176197052 + ], + "closest_active_finger_button": [ + 0.16500292718410492, + -0.3779385685920715, + 0.7762627005577087 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14240236580371857, + 0.012657314538955633, + 0.03418147563934326 + ], + "min_contact_pad_to_button": 0.021167642714556904, + "closest_contact_pad": [ + 0.16498605906963348, + -0.3803452035044146, + 0.7902870573154548 + ], + "closest_contact_pad_button": [ + 0.16498605906963348, + -0.37793612480163563, + 0.7692569494247437 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002409078702778955, + 0.021030107890711136 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 27, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f7ee5b04f3fa3c507e65522cb67d62a83adf28eec8a5386ecc8fe50dba4fc7f5", + "visual_seed": 844166511517195421, + "episode_index": 27, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_28_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_28_success.json new file mode 100644 index 0000000000000000000000000000000000000000..282b5e78c0139c2df369eb477564fbe47c000179 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_28_success.json @@ -0,0 +1,700 @@ +{ + "episode": 28, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19554818363222312, + 0.15077652622090504, + 1.1605536465371968 + ], + "current_z": 1.1605536465371968, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.299447138522431, + "gripper_z": 1.154620819255171, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19174732862011135, + 0.1465209151699805, + 1.154620819255171 + ], + "object_minus_gripper": [ + 0.0038008550121117757, + 0.004255611050924535, + 0.005932827282025821 + ], + "object_to_gripper_xy": 0.005705850001520039, + "object_to_gripper_z": 0.005932827282025821, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19554818363222312, + 0.12703654063086134, + 1.1605536465371968 + ], + "finger_b": [ + 0.18613066344858442, + 0.15077652622090504, + 1.1605536465371968 + ], + "finger_midpoint": [ + 0.19083942354040379, + 0.1389065334258832, + 1.1605536465371968 + ], + "object_minus_finger_midpoint": [ + 0.004708760091819336, + 0.01186999279502185, + 0.0 + ], + "finger_gap": 0.025539706384857377, + "fingertip_max_gap": 0.09039342345895285, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012769853192428685, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1605536465371968, + "object_top_z": 1.2104963397142852, + "finger_top_clearance": 0.049942693177088326, + "fingertip_min_top_clearance": 0.014982807953126497, + "object_projection_between_fingers": 0.864030556811715, + "object_to_finger_line_xy": 0.008753890514030532, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047696711729476426, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.20087718825471268, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 357, + "max_stable_success_frames": 357, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.31735687090905007, + -0.3228758032669768, + 0.8515395025971327 + ], + "target_position": [ + 0.3098041613806798, + -0.3241199230585053, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007654492489747976, + "xy_threshold": 0.08, + "gripper_dist": 0.18402267958122095, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395025971327, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0757894253008297, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08625589300714985, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15159952123438555, + "release_required_pad_clearance": 0.05312794650357493, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.2820489061336349, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007704496383666992, + "max_z_decrease": 0.007704496383666992, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03512545584022383, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007704496383666992, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02110318842760755, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007704496383666992, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007704514682872971, + "max_button_displacement": 0.12, + "button_start": [ + 0.16550408303737635, + -0.3803813755512237, + 0.7768088579177856 + ], + "button_final": [ + 0.16550408303737635, + -0.3803813755512237, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1648204433476252, + -0.3801620410412313, + 0.8079550143629706 + ], + "closest_button": [ + 0.16549614071846003, + -0.38039097189903254, + 0.7728368043899536 + ], + "closest_ee_minus_button": [ + -0.0006756973708348379, + 0.000228930857801235, + 0.035118209973016956 + ], + "button_min_z_position": [ + 0.16548763215541834, + -0.3803847432136535, + 0.7691043615341187 + ], + "min_active_finger_to_button": 0.1466481395781448, + "closest_active_finger": [ + 0.03734847158193588, + -0.44290781021118164, + 0.8109222650527954 + ], + "closest_active_finger_button": [ + 0.16550801694393152, + -0.38038420677185053, + 0.7766935229301453 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12815954536199564, + -0.06252360343933111, + 0.034228742122650146 + ], + "min_contact_pad_to_button": 0.02110318842760755, + "closest_contact_pad": [ + 0.16548763215541834, + -0.381422764235161, + 0.7901820054766948 + ], + "closest_contact_pad_button": [ + 0.16548763215541834, + -0.3803847432136535, + 0.7691043615341187 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001038021021507518, + 0.021077643942576163 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 28, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b358f1fae04813756c1b0a3fe93624521665508ab406bd4719bfa425ad2abc66", + "visual_seed": 8248812162786163782, + "episode_index": 28, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_29_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_29_success.json new file mode 100644 index 0000000000000000000000000000000000000000..51d0f64e5048c97b51793094c7c8178530ba13e8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_29_success.json @@ -0,0 +1,700 @@ +{ + "episode": 29, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19426637353539095, + 0.15150958708045767, + 1.1610003282095605 + ], + "current_z": 1.1610003282095605, + "required_z": 0.8611066868287001, + "initial_z": 0.7611066868287001, + "lift_margin": 0.2998936413808604, + "gripper_z": 1.1550197150123322, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19060009573688055, + 0.14733433359101195, + 1.1550197150123322 + ], + "object_minus_gripper": [ + 0.0036662777985103923, + 0.004175253489445724, + 0.005980613197228202 + ], + "object_to_gripper_xy": 0.005556467816606059, + "object_to_gripper_z": 0.005980613197228202, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19426637353539095, + 0.12786826910491889, + 1.1610003282095605 + ], + "finger_b": [ + 0.18496291097070428, + 0.15150958708045767, + 1.1610003282095605 + ], + "finger_midpoint": [ + 0.1896146422530476, + 0.1396889280926883, + 1.1610003282095605 + ], + "object_minus_finger_midpoint": [ + 0.0046517312823433354, + 0.011820658987769378, + 0.0 + ], + "finger_gap": 0.025406029428327825, + "fingertip_max_gap": 0.09059282115363479, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.0127030147141639, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1610003282095605, + "object_top_z": 1.2108942009744257, + "finger_top_clearance": 0.04989387276486523, + "fingertip_min_top_clearance": 0.01496816182945957, + "object_projection_between_fingers": 0.8659040580529579, + "object_to_finger_line_xy": 0.008657240887867299, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0477964105768174, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.279822417138223, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 357, + "max_stable_success_frames": 357, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.31478714320011114, + -0.31558080788732, + 0.8515396067114781 + ], + "target_position": [ + 0.30693011414862464, + -0.3166782900962367, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007933307804112449, + "xy_threshold": 0.08, + "gripper_dist": 0.1835751629632097, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396067114781, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07516742073753982, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08578606803120258, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15252791423130482, + "release_required_pad_clearance": 0.05289303401560129, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8261365937088866, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0073261260986328125, + "max_z_decrease": 0.0073261260986328125, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03514693083721188, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0073261260986328125, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02112216648652522, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0073261260986328125, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007326145524478109, + "max_button_displacement": 0.12, + "button_start": [ + 0.16263003647327426, + -0.3729397356510162, + 0.7768088579177856 + ], + "button_final": [ + 0.16263003647327426, + -0.3729397356510162, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16332488438709447, + -0.37168916857772527, + 0.8080136916754252 + ], + "closest_button": [ + 0.16261999309062958, + -0.37294533848762507, + 0.7728962898254395 + ], + "closest_ee_minus_button": [ + 0.0007048912964648935, + 0.0012561699098997958, + 0.035117401849985797 + ], + "button_min_z_position": [ + 0.16261370480060577, + -0.37294396758079523, + 0.7694827318191528 + ], + "min_active_finger_to_button": 0.14501698384894485, + "closest_active_finger": [ + 0.035484716296195984, + -0.433663547039032, + 0.8106749057769775 + ], + "closest_active_finger_button": [ + 0.162633091211319, + -0.3729424178600311, + 0.7763797044754028 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.127148374915123, + -0.06072112917900091, + 0.03429520130157471 + ], + "min_contact_pad_to_button": 0.02112216648652522, + "closest_contact_pad": [ + 0.16261370480060577, + -0.3730725590548258, + 0.7906045068704428 + ], + "closest_contact_pad_button": [ + 0.16261370480060577, + -0.37294396758079523, + 0.7694827318191528 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00012859147403054827, + 0.02112177505128998 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 29, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f569d6bd3121f710f864af7916f208d439865d4be5c9b3e114a378900a9a3d86", + "visual_seed": 5799759550558428994, + "episode_index": 29, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_2_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_2_success.json new file mode 100644 index 0000000000000000000000000000000000000000..23669cfcfc90bd942362b0e55f1f726a9de82a02 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_2_success.json @@ -0,0 +1,700 @@ +{ + "episode": 2, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19102718965184473, + 0.15228077403928522, + 1.1601177037519599 + ], + "current_z": 1.1601177037519599, + "required_z": 0.8611068656426347, + "initial_z": 0.7611068656426347, + "lift_margin": 0.29901083810932516, + "gripper_z": 1.154399439448433, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1873242570145071, + 0.1480881858429805, + 1.154399439448433 + ], + "object_minus_gripper": [ + 0.0037029326373376192, + 0.00419258819630472, + 0.005718264303526954 + ], + "object_to_gripper_xy": 0.00559370234285431, + "object_to_gripper_z": 0.005718264303526954, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19102718965184473, + 0.12860995535331193, + 1.1601177037519599 + ], + "finger_b": [ + 0.18170364871427433, + 0.15228077403928522, + 1.1601177037519599 + ], + "finger_midpoint": [ + 0.18636541918305954, + 0.1404453646962986, + 1.1601177037519599 + ], + "object_minus_finger_midpoint": [ + 0.004661770468785187, + 0.01183540934298663, + 0.0 + ], + "finger_gap": 0.02544083475200398, + "fingertip_max_gap": 0.09045331578919469, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012720417376001972, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1601177037519599, + "object_top_z": 1.209991349367444, + "finger_top_clearance": 0.04987364561548402, + "fingertip_min_top_clearance": 0.014962093684645239, + "object_projection_between_fingers": 0.8656928758190016, + "object_to_finger_line_xy": 0.008674866575558968, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047726657894597346, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.24437853932797376, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 356, + "max_stable_success_frames": 356, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3106237427425368, + -0.3224049993549877, + 0.8515395580530739 + ], + "target_position": [ + 0.30298230528031717, + -0.32344739055657423, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007712207589669676, + "xy_threshold": 0.08, + "gripper_dist": 0.1840035568850112, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395580530739, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07583526109363199, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0862571641962873, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1513005548804789, + "release_required_pad_clearance": 0.053128582098143654, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.2832693367565409, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007456600666046143, + "max_z_decrease": 0.007456600666046143, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03514103434801118, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007456600666046143, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021209420365746683, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007456600666046143, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007456628328630013, + "max_button_displacement": 0.12, + "button_start": [ + 0.1586822271347046, + -0.379708856344223, + 0.7768088579177856 + ], + "button_final": [ + 0.1586822271347046, + -0.379708856344223, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1583827525317769, + -0.3806776189550265, + 0.8081625907456393 + ], + "closest_button": [ + 0.15867535769939423, + -0.3797178566455841, + 0.7730358839035034 + ], + "closest_ee_minus_button": [ + -0.000292605167617338, + -0.0009597623094423913, + 0.035126706842135924 + ], + "button_min_z_position": [ + 0.15866214036941528, + -0.3797118663787842, + 0.7693522572517395 + ], + "min_active_finger_to_button": 0.1463457937066879, + "closest_active_finger": [ + 0.01742497831583023, + -0.3627112805843353, + 0.8105697631835938 + ], + "closest_active_finger_button": [ + 0.15868395566940305, + -0.3797112107276917, + 0.77630615234375 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14125897735357282, + 0.01699993014335638, + 0.03426361083984375 + ], + "min_contact_pad_to_button": 0.021209420365746683, + "closest_contact_pad": [ + 0.15866214036941528, + -0.38211117160001046, + 0.7904255305310938 + ], + "closest_contact_pad_button": [ + 0.15866214036941528, + -0.3797118663787842, + 0.7693522572517395 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0023993052212262778, + 0.021073273279354265 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 2, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "70958127f31fe75e2a07b97df5967419e824b91333545722125a211268bd118c", + "visual_seed": 5174896866380371597, + "episode_index": 2, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_30_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_30_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3bbd0ed7ff664ee651e269948d5603f9f34d72ca --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_30_success.json @@ -0,0 +1,700 @@ +{ + "episode": 30, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19199058821771672, + 0.14407230512924918, + 1.1591547084044027 + ], + "current_z": 1.1591547084044027, + "required_z": 0.86110680603799, + "initial_z": 0.76110680603799, + "lift_margin": 0.29804790236641276, + "gripper_z": 1.1534409991440455, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1879193765210939, + 0.13953898490416028, + 1.1534409991440455 + ], + "object_minus_gripper": [ + 0.004071211696622834, + 0.004533320225088899, + 0.0057137092603571915 + ], + "object_to_gripper_xy": 0.00609309091856659, + "object_to_gripper_z": 0.0057137092603571915, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19199058821771672, + 0.12050043278712785, + 1.1591547084044027 + ], + "finger_b": [ + 0.18171721109439115, + 0.14407230512924918, + 1.1591547084044027 + ], + "finger_midpoint": [ + 0.18685389965605392, + 0.13228636895818852, + 1.1591547084044027 + ], + "object_minus_finger_midpoint": [ + 0.0051366885616628, + 0.011785936171060662, + 0.0 + ], + "finger_gap": 0.02571333201339985, + "fingertip_max_gap": 0.09114343606741826, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01285666600669993, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1591547084044027, + "object_top_z": 1.2095880609261653, + "finger_top_clearance": 0.05043335252176262, + "fingertip_min_top_clearance": 0.015130005756528786, + "object_projection_between_fingers": 0.8403717521596732, + "object_to_finger_line_xy": 0.009417788948834143, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04807171803370913, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.4453206191149325, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 344, + "max_stable_success_frames": 344, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3210336485619285, + -0.3216780678200697, + 0.8515395466861854 + ], + "target_position": [ + 0.3115252497750269, + -0.32348753537403424, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009679040258186904, + "xy_threshold": 0.08, + "gripper_dist": 0.18684814786619663, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395466861854, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07520824694865841, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08637738441124919, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1557246476284714, + "release_required_pad_clearance": 0.053188692205624596, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4005090385018297, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007805168628692627, + "max_z_decrease": 0.007805168628692627, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035137335907027285, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007805168628692627, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021128882638459356, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007805168628692627, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00780519338468373, + "max_button_displacement": 0.12, + "button_start": [ + 0.167225182056427, + -0.37974900007247914, + 0.7768088579177856 + ], + "button_final": [ + 0.167225182056427, + -0.37974900007247914, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16797709940599242, + -0.3800516540980983, + 0.807889522128442 + ], + "closest_button": [ + 0.16721908748149872, + -0.3797588944435119, + 0.7727615833282471 + ], + "closest_ee_minus_button": [ + 0.0007580119244937067, + -0.0002927596545864164, + 0.035127938800194936 + ], + "button_min_z_position": [ + 0.1672057509422302, + -0.37975198030471796, + 0.769003689289093 + ], + "min_active_finger_to_button": 0.14541651998503377, + "closest_active_finger": [ + 0.026617199182510376, + -0.3656019866466522, + 0.8108779788017273 + ], + "closest_active_finger_button": [ + 0.16722774505615234, + -0.3797517120838165, + 0.7766081094741821 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14061054587364197, + 0.014149725437164251, + 0.034269869327545166 + ], + "min_contact_pad_to_button": 0.021128882638459356, + "closest_contact_pad": [ + 0.1672057509422302, + -0.38111149601651856, + 0.7900887882591988 + ], + "closest_contact_pad_button": [ + 0.1672057509422302, + -0.37975198030471796, + 0.769003689289093 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0013595157118005963, + 0.021085098970105798 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 30, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "79d3e045988917352c67f15eb6a7a65f486e2155a7bca59d75a82e02f5657c16", + "visual_seed": 4174131251687631754, + "episode_index": 30, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_31_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_31_success.json new file mode 100644 index 0000000000000000000000000000000000000000..27433df95b99517f60a2aef744b9198a6156cc2c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_31_success.json @@ -0,0 +1,700 @@ +{ + "episode": 31, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.1946464533718463, + 0.15183405696180874, + 1.1606279286244081 + ], + "current_z": 1.1606279286244081, + "required_z": 0.8611066272240555, + "initial_z": 0.7611066272240555, + "lift_margin": 0.2995213014003526, + "gripper_z": 1.1548090794676702, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19086840092822985, + 0.14738625133220085, + 1.1548090794676702 + ], + "object_minus_gripper": [ + 0.003778052443616453, + 0.004447805629607893, + 0.005818849156737915 + ], + "object_to_gripper_xy": 0.005835808014790061, + "object_to_gripper_z": 0.005818849156737915, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1946464533718463, + 0.12837088101598185, + 1.1606279286244081 + ], + "finger_b": [ + 0.18460034701927952, + 0.15183405696180874, + 1.1606279286244081 + ], + "finger_midpoint": [ + 0.1896234001955629, + 0.14010246898889528, + 1.1606279286244081 + ], + "object_minus_finger_midpoint": [ + 0.005023053176283404, + 0.01173158797291346, + 0.0 + ], + "finger_gap": 0.025523418233299244, + "fingertip_max_gap": 0.09076522727494604, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01276170911664964, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1606279286244081, + "object_top_z": 1.2105910702941218, + "finger_top_clearance": 0.04996314166971372, + "fingertip_min_top_clearance": 0.014988942500914114, + "object_projection_between_fingers": 0.8450762970021233, + "object_to_finger_line_xy": 0.00923518780933657, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04788261363747302, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3772350931673277, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 353, + "max_stable_success_frames": 353, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.31788681881551606, + -0.31490670958243155, + 0.8515395713864932 + ], + "target_position": [ + 0.3096563335726682, + -0.31624497364804866, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00833857530049699, + "xy_threshold": 0.08, + "gripper_dist": 0.1833365602887356, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395713864932, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07525796608895513, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.086622807104114, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15222332314593695, + "release_required_pad_clearance": 0.053311403552057005, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.6408754289297411, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007381618022918701, + "max_z_decrease": 0.007381618022918701, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035142011788392366, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007381618022918701, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.0211286799456258, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007381618022918701, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007381635155946365, + "max_button_displacement": 0.12, + "button_start": [ + 0.16535626351833346, + -0.3725064396858215, + 0.7768088579177856 + ], + "button_final": [ + 0.16535626351833346, + -0.3725064396858215, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16448986814668248, + -0.3710947597033992, + 0.8079411594906588 + ], + "closest_button": [ + 0.16534741222858435, + -0.37251260876655573, + 0.7728382349014282 + ], + "closest_ee_minus_button": [ + -0.000857544081901862, + 0.0014178490631565066, + 0.03510292458923059 + ], + "button_min_z_position": [ + 0.1653409004211426, + -0.372510552406311, + 0.7694272398948669 + ], + "min_active_finger_to_button": 0.1463393867715243, + "closest_active_finger": [ + 0.036495476961135864, + -0.43275076150894165, + 0.8106675744056702 + ], + "closest_active_finger_button": [ + 0.16535942256450656, + -0.37250912189483637, + 0.7763128876686096 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1288639456033707, + -0.06024163961410528, + 0.03435468673706055 + ], + "min_contact_pad_to_button": 0.0211286799456258, + "closest_contact_pad": [ + 0.1653409004211426, + -0.37253631131705295, + 0.7905559041385717 + ], + "closest_contact_pad_button": [ + 0.1653409004211426, + -0.372510552406311, + 0.7694272398948669 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -2.5758910741968677e-05, + 0.021128664243704742 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 31, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a8d98775ec679270a18d219543c47b317988e8fa987e1a8afac4cc3bd69da969", + "visual_seed": 6624463064575636728, + "episode_index": 31, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_32_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_32_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f91dce5ea8b7902a41275fb5d65dcf8ad8cca027 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_32_success.json @@ -0,0 +1,700 @@ +{ + "episode": 32, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19108899163355134, + 0.1437852926808017, + 1.1611266535307583 + ], + "current_z": 1.1611266535307583, + "required_z": 0.8611066868287002, + "initial_z": 0.7611066868287002, + "lift_margin": 0.3000199667020581, + "gripper_z": 1.1554763462641031, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18718421763457863, + 0.13943133760078802, + 1.1554763462641031 + ], + "object_minus_gripper": [ + 0.0039047739989727104, + 0.004353955080013683, + 0.0056503072666551635 + ], + "object_to_gripper_xy": 0.0058484343906579205, + "object_to_gripper_z": 0.0056503072666551635, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19108899163355134, + 0.12017828527304417, + 1.1611266535307583 + ], + "finger_b": [ + 0.18126065684363513, + 0.1437852926808017, + 1.1611266535307583 + ], + "finger_midpoint": [ + 0.18617482423859322, + 0.13198178897692292, + 1.1611266535307583 + ], + "object_minus_finger_midpoint": [ + 0.004914167394958119, + 0.011803503703878782, + 0.0 + ], + "finger_gap": 0.025571213570978527, + "fingertip_max_gap": 0.09021151634100086, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012785606785489283, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1611266535307583, + "object_top_z": 1.2109696553599476, + "finger_top_clearance": 0.049843001829189326, + "fingertip_min_top_clearance": 0.01495290054875683, + "object_projection_between_fingers": 0.8522739095045883, + "object_to_finger_line_xy": 0.009073389166589896, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04760575817050043, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.12147317391064945, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 353, + "max_stable_success_frames": 353, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.31619013880974345, + -0.32141906227980227, + 0.8515395743260992 + ], + "target_position": [ + 0.3082552493606616, + -0.3226202915752102, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008025298897193575, + "xy_threshold": 0.08, + "gripper_dist": 0.18627426788957124, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395743260992, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07530704002966743, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08570014357662474, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15477371492140968, + "release_required_pad_clearance": 0.05285007178831237, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7433541869778288, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007616877555847168, + "max_z_decrease": 0.007616877555847168, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035160457765258654, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007616877555847168, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021156110738659906, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007616877555847168, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007616900413102705, + "max_button_displacement": 0.12, + "button_start": [ + 0.16395518183708185, + -0.37888175249099726, + 0.7768088579177856 + ], + "button_final": [ + 0.16395518183708185, + -0.37888175249099726, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16327252829583777, + -0.3802060087209348, + 0.8080464207897744 + ], + "closest_button": [ + 0.16394576430320734, + -0.3788904845714569, + 0.7729170322418213 + ], + "closest_ee_minus_button": [ + -0.0006732360073695709, + -0.0013155241494778869, + 0.03512938854795311 + ], + "button_min_z_position": [ + 0.1639366745948791, + -0.3788841366767883, + 0.7691919803619385 + ], + "min_active_finger_to_button": 0.1466804691905311, + "closest_active_finger": [ + 0.02192194014787674, + -0.3657580614089966, + 0.8109689950942993 + ], + "closest_active_finger_button": [ + 0.16395686566829676, + -0.3788850009441375, + 0.7767794728279114 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14203492552042002, + 0.013126939535140936, + 0.03418952226638794 + ], + "min_contact_pad_to_button": 0.021156110738659906, + "closest_contact_pad": [ + 0.1639366745948791, + -0.3812709444103207, + 0.7902130214976575 + ], + "closest_contact_pad_button": [ + 0.1639366745948791, + -0.3788841366767883, + 0.7691919803619385 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002386807733532448, + 0.02102104113571901 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 32, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "32370d9aece258400a5727d4a40aa1f91ebb68ce8ce2b0291835200a9bfffcca", + "visual_seed": 6368011215932383708, + "episode_index": 32, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_33_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_33_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b6f581b37c08e9d34aa8062992545df2297116b1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_33_success.json @@ -0,0 +1,700 @@ +{ + "episode": 33, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19275602292099675, + 0.15353074582059614, + 1.1626924038414692 + ], + "current_z": 1.1626924038414692, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.30158589582670325, + "gripper_z": 1.1569947479826215, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1888202886229921, + 0.1489880937285818, + 1.1569947479826215 + ], + "object_minus_gripper": [ + 0.003935734298004645, + 0.004542652092014349, + 0.005697655858847739 + ], + "object_to_gripper_xy": 0.006010465247680287, + "object_to_gripper_z": 0.005697655858847739, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19275602292099675, + 0.130098835614877, + 1.1626924038414692 + ], + "finger_b": [ + 0.1824011170488613, + 0.15353074582059614, + 1.1626924038414692 + ], + "finger_midpoint": [ + 0.18757856998492903, + 0.14181479071773656, + 1.1626924038414692 + ], + "object_minus_finger_midpoint": [ + 0.005177452936067722, + 0.011715955102859582, + 0.0 + ], + "finger_gap": 0.0256179330061906, + "fingertip_max_gap": 0.09031300749250887, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012808966503095312, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1626924038414692, + "object_top_z": 1.2125226978733565, + "finger_top_clearance": 0.04983029403188732, + "fingertip_min_top_clearance": 0.014949088209566197, + "object_projection_between_fingers": 0.8366180257193371, + "object_to_finger_line_xy": 0.009471303735782217, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047656503746254436, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.11151718399209434, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 352, + "max_stable_success_frames": 352, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3166712316551157, + -0.31747742528812334, + 0.851539564200132 + ], + "target_position": [ + 0.3089423974498842, + -0.3186108648764107, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007811501998479734, + "xy_threshold": 0.08, + "gripper_dist": 0.18433575950004416, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539564200132, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07586132453327783, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08502558538000675, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15155672194446898, + "release_required_pad_clearance": 0.052512792690003376, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.09691328412077607, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007549941539764404, + "max_z_decrease": 0.007549941539764404, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03522136721239232, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007549941539764404, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021117319870853756, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007549941539764404, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0075499659231318674, + "max_button_displacement": 0.12, + "button_start": [ + 0.1646423190832138, + -0.3748723268508911, + 0.7768088579177856 + ], + "button_final": [ + 0.1646423190832138, + -0.3748723268508911, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16700545018722437, + -0.37511837292210237, + 0.8081395637697331 + ], + "closest_button": [ + 0.16463392972946167, + -0.3748809099197388, + 0.7729989290237427 + ], + "closest_ee_minus_button": [ + 0.0023715204577627047, + -0.00023746300236354712, + 0.035140634745990385 + ], + "button_min_z_position": [ + 0.16462334990501404, + -0.3748752176761627, + 0.7692589163780212 + ], + "min_active_finger_to_button": 0.14384661644745653, + "closest_active_finger": [ + 0.02556271106004715, + -0.3615446984767914, + 0.8104879260063171 + ], + "closest_active_finger_button": [ + 0.16464342176914215, + -0.3748748004436493, + 0.7762722373008728 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.139080710709095, + 0.01333010196685791, + 0.034215688705444336 + ], + "min_contact_pad_to_button": 0.021117319870853756, + "closest_contact_pad": [ + 0.16462334990501404, + -0.37610728342662864, + 0.7903402638803628 + ], + "closest_contact_pad_button": [ + 0.16462334990501404, + -0.3748752176761627, + 0.7692589163780212 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001232065750465916, + 0.021081347502341585 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 33, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "849d4ef1c1187dbfe8e89e774431a0f7696e4e0b8f1fba89e03fe23745a21f7b", + "visual_seed": 3344700767688788436, + "episode_index": 33, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_34_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5be6008fe06435a3781886df3a9f272919ad9f06 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_34_success.json @@ -0,0 +1,700 @@ +{ + "episode": 34, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.1898508415940356, + 0.14923219128228732, + 1.1631534702935502 + ], + "current_z": 1.1631534702935502, + "required_z": 0.86110680603799, + "initial_z": 0.76110680603799, + "lift_margin": 0.30204666425556026, + "gripper_z": 1.15746925417637, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18597891194896432, + 0.14476275060003668, + 1.15746925417637 + ], + "object_minus_gripper": [ + 0.0038719296450712704, + 0.004469440682250636, + 0.005684216117180174 + ], + "object_to_gripper_xy": 0.005913352618315499, + "object_to_gripper_z": 0.005684216117180174, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1898508415940356, + 0.12579963496385282, + 1.1631534702935502 + ], + "finger_b": [ + 0.17964634966951998, + 0.14923219128228732, + 1.1631534702935502 + ], + "finger_midpoint": [ + 0.18474859563177778, + 0.13751591312307007, + 1.1631534702935502 + ], + "object_minus_finger_midpoint": [ + 0.0051022459622578065, + 0.011716278159217247, + 0.0 + ], + "finger_gap": 0.025558097563279408, + "fingertip_max_gap": 0.0905924561163926, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012779048781639704, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1631534702935502, + "object_top_z": 1.213120558650909, + "finger_top_clearance": 0.04996708835735886, + "fingertip_min_top_clearance": 0.014990126507207657, + "object_projection_between_fingers": 0.8405862693585902, + "object_to_finger_line_xy": 0.009355834530727133, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047796228058196305, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.2688082830779537, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 360, + "max_stable_success_frames": 360, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3110884611988989, + -0.32083311407674675, + 0.8515396004050598 + ], + "target_position": [ + 0.30347158017552217, + -0.3218983513166429, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00769100818498705, + "xy_threshold": 0.08, + "gripper_dist": 0.1829467461896778, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396004050598, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07587308324689715, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08506169528879919, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15016776330200293, + "release_required_pad_clearance": 0.052530847644399595, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.13122118873431154, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007653295993804932, + "max_z_decrease": 0.007653295993804932, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03520921677816199, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007653295993804932, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02106905338625953, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007653295993804932, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00765331611854514, + "max_button_displacement": 0.12, + "button_start": [ + 0.15917150676250458, + -0.3781598210334777, + 0.7768088579177856 + ], + "button_final": [ + 0.15917150676250458, + -0.3781598210334777, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1596498081783024, + -0.3761035117442865, + 0.807924814660742 + ], + "closest_button": [ + 0.1591605395078659, + -0.37816601991653437, + 0.7727794647216797 + ], + "closest_ee_minus_button": [ + 0.000489268670436499, + 0.0020625081722478456, + 0.035145349939062265 + ], + "button_min_z_position": [ + 0.15915416181087494, + -0.3781625032424927, + 0.7691555619239807 + ], + "min_active_finger_to_button": 0.14478593218240443, + "closest_active_finger": [ + 0.03301602602005005, + -0.440487802028656, + 0.8106754422187805 + ], + "closest_active_finger_button": [ + 0.15917187929153442, + -0.37816143035888666, + 0.7765713334083557 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12615585327148438, + -0.06232637166976934, + 0.034104108810424805 + ], + "min_contact_pad_to_button": 0.02106905338625953, + "closest_contact_pad": [ + 0.15915416181087494, + -0.3781625032424927, + 0.7902246153102402 + ], + "closest_contact_pad_button": [ + 0.15915416181087494, + -0.3781625032424927, + 0.7691555619239807 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02106905338625953 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 34, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1986c2b204ddd066811576f319ad1aeb76f10978f2a96f6666d3e31ea8e43a2f", + "visual_seed": 6558494610067234732, + "episode_index": 34, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_35_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_35_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f7dba6203b447f8b683803b69c9708fac88454ca --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_35_success.json @@ -0,0 +1,700 @@ +{ + "episode": 35, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19838624811798083, + 0.14837254361632385, + 1.162873699890583 + ], + "current_z": 1.162873699890583, + "required_z": 0.8611068060379901, + "initial_z": 0.7611068060379901, + "lift_margin": 0.30176689385259303, + "gripper_z": 1.1569717370548753, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1940547314053904, + 0.1438071376014608, + 1.1569717370548753 + ], + "object_minus_gripper": [ + 0.004331516712590439, + 0.004565406014863049, + 0.005901962835707764 + ], + "object_to_gripper_xy": 0.006293247898501853, + "object_to_gripper_z": 0.005901962835707764, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19838624811798083, + 0.12485330728896488, + 1.162873699890583 + ], + "finger_b": [ + 0.187721434478898, + 0.14837254361632385, + 1.162873699890583 + ], + "finger_midpoint": [ + 0.19305384129843942, + 0.13661292545264436, + 1.162873699890583 + ], + "object_minus_finger_midpoint": [ + 0.005332406819541419, + 0.011759618163679486, + 0.0 + ], + "finger_gap": 0.02582426625053516, + "fingertip_max_gap": 0.0907708900141937, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01291213312526758, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.162873699890583, + "object_top_z": 1.212959051589404, + "finger_top_clearance": 0.05008535169882089, + "fingertip_min_top_clearance": 0.015025605509646267, + "object_projection_between_fingers": 0.8294504568921333, + "object_to_finger_line_xy": 0.009712890578629037, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04788544500709685, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.07534596194148649, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 354, + "max_stable_success_frames": 354, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.31412342909988156, + -0.318125564460387, + 0.8515395040877366 + ], + "target_position": [ + 0.30524613569956904, + -0.319653480693193, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009007822496569536, + "xy_threshold": 0.08, + "gripper_dist": 0.1825884795256958, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395040877366, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07583843900504525, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08579664908521949, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14998521243405283, + "release_required_pad_clearance": 0.052898324542609745, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8364931784840094, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007693111896514893, + "max_z_decrease": 0.007693111896514893, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0351316457491062, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007693111896514893, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02113176668352574, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007693111896514893, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007693135812004992, + "max_button_displacement": 0.12, + "button_start": [ + 0.1609460562467575, + -0.3759149312973022, + 0.7768088579177856 + ], + "button_final": [ + 0.1609460562467575, + -0.3759149312973022, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16063202377312158, + -0.37624337735065916, + 0.807844622546376 + ], + "closest_button": [ + 0.16093553602695465, + -0.37592315673828114, + 0.7727157473564148 + ], + "closest_ee_minus_button": [ + -0.00030351225383307145, + -0.00032022061237801935, + 0.03512887518996122 + ], + "button_min_z_position": [ + 0.16092710196971893, + -0.3759178817272186, + 0.7691157460212708 + ], + "min_active_finger_to_button": 0.14641186097001835, + "closest_active_finger": [ + 0.019493140280246735, + -0.35991913080215454, + 0.8107284307479858 + ], + "closest_active_finger_button": [ + 0.16094650328159332, + -0.3759178817272185, + 0.7765024304389954 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1414533630013466, + 0.015998750925063976, + 0.03422600030899048 + ], + "min_contact_pad_to_button": 0.02113176668352574, + "closest_contact_pad": [ + 0.16092710196971893, + -0.37753380178280804, + 0.7901856384163665 + ], + "closest_contact_pad_button": [ + 0.16092710196971893, + -0.3759178817272186, + 0.7691157460212708 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0016159200555894704, + 0.021069892395095713 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 35, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d0b570eceacc0f1e3dc02293328b5cb0ec6e0e7a9c5a60aa4a184edc45c8bd89", + "visual_seed": 4087695328702461475, + "episode_index": 35, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_36_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_36_success.json new file mode 100644 index 0000000000000000000000000000000000000000..02eefc18539d4b983b0546b58cb7b6ca3d1b7f7b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_36_success.json @@ -0,0 +1,700 @@ +{ + "episode": 36, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19184977687328436, + 0.15191309770016614, + 1.1626644162244255 + ], + "current_z": 1.1626644162244255, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.30155790820965944, + "gripper_z": 1.156927125941597, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18799436070002898, + 0.14758202159717312, + 1.156927125941597 + ], + "object_minus_gripper": [ + 0.0038554161732553827, + 0.00433107610299302, + 0.005737290282828544 + ], + "object_to_gripper_xy": 0.0057984872233123345, + "object_to_gripper_z": 0.005737290282828544, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19184977687328436, + 0.1281928418708232, + 1.1626644162244255 + ], + "finger_b": [ + 0.182242392286502, + 0.15191309770016614, + 1.1626644162244255 + ], + "finger_midpoint": [ + 0.1870460845798932, + 0.14005296978549467, + 1.1626644162244255 + ], + "object_minus_finger_midpoint": [ + 0.004803692293391171, + 0.011860127914671476, + 0.0 + ], + "finger_gap": 0.02559203733991926, + "fingertip_max_gap": 0.09087109901955953, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012796018669959625, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1626644162244255, + "object_top_z": 1.2127534006707743, + "finger_top_clearance": 0.050088984446348794, + "fingertip_min_top_clearance": 0.015026695333904638, + "object_projection_between_fingers": 0.8590709155470192, + "object_to_finger_line_xy": 0.008904708023924889, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04793554950977977, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.08751816964711717, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 359, + "max_stable_success_frames": 359, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.31314477502450955, + -0.3156173402286308, + 0.8515395598210959 + ], + "target_position": [ + 0.3044043603941237, + -0.3170874858297693, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008863192201436767, + "xy_threshold": 0.08, + "gripper_dist": 0.18429326116328412, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395598210959, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754993412593906, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0855791778059276, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15246473241340627, + "release_required_pad_clearance": 0.0527895889029638, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.626823225235832, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007403135299682617, + "max_z_decrease": 0.007403135299682617, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035208300462316204, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007403135299682617, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021232582031842317, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007403135299682617, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007403157643127531, + "max_button_displacement": 0.12, + "button_start": [ + 0.160104289650917, + -0.37334895133972157, + 0.7768088579177856 + ], + "button_final": [ + 0.160104289650917, + -0.37334895133972157, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16216053653070325, + -0.3741754851532373, + 0.8046077593840848 + ], + "closest_button": [ + 0.1600856631994247, + -0.3733530044555663, + 0.7694702744483948 + ], + "closest_ee_minus_button": [ + 0.002074873331278565, + -0.0008224806976709909, + 0.03513748493569002 + ], + "button_min_z_position": [ + 0.1600865721702575, + -0.37335306406021107, + 0.769405722618103 + ], + "min_active_finger_to_button": 0.14366050364307073, + "closest_active_finger": [ + 0.021646618843078613, + -0.3564310371875763, + 0.8101005554199219 + ], + "closest_active_finger_button": [ + 0.16010665893554685, + -0.37335297465324396, + 0.7757377028465271 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13846004009246823, + 0.01692193746566767, + 0.034362852573394775 + ], + "min_contact_pad_to_button": 0.021232582031842317, + "closest_contact_pad": [ + 0.1600865721702575, + -0.37549728645217145, + 0.7905297575090212 + ], + "closest_contact_pad_button": [ + 0.1600865721702575, + -0.37335306406021107, + 0.769405722618103 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002144222391960382, + 0.021124034890918186 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 36, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "214511684c6c4f92cddc66e13c461ac6d1c17964c35b1d8ee10a01541fdc25e4", + "visual_seed": 6023039456037033892, + "episode_index": 36, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_37_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_37_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a707df2b7641ab4b6af4459bcf4c5bf8c57825a3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_37_success.json @@ -0,0 +1,700 @@ +{ + "episode": 37, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.1892775491518617, + 0.15424206636926172, + 1.1611942068638332 + ], + "current_z": 1.1611942068638332, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.3000876988490674, + "gripper_z": 1.1554196040482934, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18535154471145865, + 0.14983253927005033, + 1.1554196040482934 + ], + "object_minus_gripper": [ + 0.003926004440403058, + 0.0044095270992113855, + 0.005774602815539875 + ], + "object_to_gripper_xy": 0.005904018979029802, + "object_to_gripper_z": 0.005774602815539875, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1892775491518617, + 0.1305985350302926, + 1.1611942068638332 + ], + "finger_b": [ + 0.17939203009121382, + 0.15424206636926172, + 1.1611942068638332 + ], + "finger_midpoint": [ + 0.18433478962153776, + 0.14242030069977715, + 1.1611942068638332 + ], + "object_minus_finger_midpoint": [ + 0.0049427595303239424, + 0.011821765669484563, + 0.0 + ], + "finger_gap": 0.025626940146557642, + "fingertip_max_gap": 0.09076160787431087, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012813470073278821, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1611942068638332, + "object_top_z": 1.2111937279370055, + "finger_top_clearance": 0.04999952107317229, + "fingertip_min_top_clearance": 0.014999856321951686, + "object_projection_between_fingers": 0.8511991381968161, + "object_to_finger_line_xy": 0.009120424770797326, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047880803937155436, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.19023413793572244, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 357, + "max_stable_success_frames": 357, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3145632350656141, + -0.3192784196514783, + 0.8515395957285798 + ], + "target_position": [ + 0.30595663895536174, + -0.32085541729714084, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00874988103801627, + "xy_threshold": 0.08, + "gripper_dist": 0.18427319250154253, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395957285798, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0755138524053892, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08564000974453588, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1523897096064888, + "release_required_pad_clearance": 0.05282000487226794, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6852814066225724, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007462203502655029, + "max_z_decrease": 0.007462203502655029, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035134810742735945, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007462203502655029, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021125979735276825, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007462203502655029, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007462227658339109, + "max_button_displacement": 0.12, + "button_start": [ + 0.16165655851364133, + -0.3771168887615204, + 0.7768088579177856 + ], + "button_final": [ + 0.16165655851364133, + -0.3771168887615204, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16220130832149243, + -0.37710983831241307, + 0.8081924749778694 + ], + "closest_button": [ + 0.1616501808166504, + -0.377126008272171, + 0.773061990737915 + ], + "closest_ee_minus_button": [ + 0.0005511275048420416, + 1.6169959757950103e-05, + 0.03513048423995435 + ], + "button_min_z_position": [ + 0.16163787245750427, + -0.3771202564239502, + 0.7693466544151306 + ], + "min_active_finger_to_button": 0.14564684297545616, + "closest_active_finger": [ + 0.02104981243610382, + -0.36073750257492065, + 0.8106025457382202 + ], + "closest_active_finger_button": [ + 0.16165827214717862, + -0.37711966037750244, + 0.7763404846191406 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1406084597110748, + 0.016382157802581787, + 0.03426206111907959 + ], + "min_contact_pad_to_button": 0.021125979735276825, + "closest_contact_pad": [ + 0.16163787245750427, + -0.3783755729612512, + 0.7904353053953737 + ], + "closest_contact_pad_button": [ + 0.16163787245750427, + -0.3771202564239502, + 0.7693466544151306 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0012553165373009878, + 0.02108865098024304 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 37, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2f8cd62e5ffb5ae5c85e1a2a0d62b029f530428f3e3df227d400de93f0f678e2", + "visual_seed": 6662496106866170761, + "episode_index": 37, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_38_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a1360a2eef5b4adc109d98c905371c5995fbf3b4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_38_success.json @@ -0,0 +1,700 @@ +{ + "episode": 38, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.1975372272616924, + 0.1536379807016883, + 1.1606407951677902 + ], + "current_z": 1.1606407951677902, + "required_z": 0.8611066272240555, + "initial_z": 0.7611066272240555, + "lift_margin": 0.29953416794373466, + "gripper_z": 1.154741450058427, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19366800219430486, + 0.1492948546373094, + 1.154741450058427 + ], + "object_minus_gripper": [ + 0.003869225067387544, + 0.004343126064378894, + 0.0058993451093631855 + ], + "object_to_gripper_xy": 0.005816669720139476, + "object_to_gripper_z": 0.0058993451093631855, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1975372272616924, + 0.12988118977524293, + 1.1606407951677902 + ], + "finger_b": [ + 0.18794898984759262, + 0.1536379807016883, + 1.1606407951677902 + ], + "finger_midpoint": [ + 0.1927431085546425, + 0.1417595852384656, + 1.1606407951677902 + ], + "object_minus_finger_midpoint": [ + 0.004794118707049905, + 0.011878395463222696, + 0.0 + ], + "finger_gap": 0.025618731659314824, + "fingertip_max_gap": 0.09054478793799842, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012809365829657431, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1606407951677902, + "object_top_z": 1.2105926282034503, + "finger_top_clearance": 0.04995183303566009, + "fingertip_min_top_clearance": 0.014985549910698025, + "object_projection_between_fingers": 0.8599244589573736, + "object_to_finger_line_xy": 0.008891375054356672, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04777239396899921, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.208773424528622, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 356, + "max_stable_success_frames": 356, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.31415326017994494, + -0.31530785004630624, + 0.8515395095330154 + ], + "target_position": [ + 0.3055181513343916, + -0.3168396824871401, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008769926761458435, + "xy_threshold": 0.08, + "gripper_dist": 0.18443939651186717, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395095330154, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07532998243318956, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08492371967336886, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15303485346315274, + "release_required_pad_clearance": 0.05246185983668443, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.0, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007649838924407959, + "max_z_decrease": 0.007649838924407959, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03523129990297203, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007649838924407959, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02108285818453659, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007649838924407959, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007649859102667048, + "max_button_displacement": 0.12, + "button_start": [ + 0.1612180769443512, + -0.37310114502906794, + 0.7768088579177856 + ], + "button_final": [ + 0.1612180769443512, + -0.37310114502906794, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16302510454020983, + -0.37138560072772886, + 0.8079556383896318 + ], + "closest_button": [ + 0.16120795905590057, + -0.37310969829559326, + 0.7728134989738464 + ], + "closest_ee_minus_button": [ + 0.0018171454843092516, + 0.0017240975678644022, + 0.03514213941578537 + ], + "button_min_z_position": [ + 0.16120077669620514, + -0.37310421466827387, + 0.7691590189933777 + ], + "min_active_finger_to_button": 0.14379533711804068, + "closest_active_finger": [ + 0.03642040491104126, + -0.43584710359573364, + 0.8107589483261108 + ], + "closest_active_finger_button": [ + 0.1612197607755661, + -0.3731037080287933, + 0.7766197323799133 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12479935586452484, + -0.06274339556694036, + 0.03413921594619751 + ], + "min_contact_pad_to_button": 0.02108285818453659, + "closest_contact_pad": [ + 0.16120077669620514, + -0.37310421466827387, + 0.7902418771779143 + ], + "closest_contact_pad_button": [ + 0.16120077669620514, + -0.37310421466827387, + 0.7691590189933777 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02108285818453659 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 38, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a690b1742b4c254fefea762b21bf08d02df7f384f597d9af0915f40660397450", + "visual_seed": 5360665741150445750, + "episode_index": 38, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_39_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f4faeaa8a4c230944e863a160be16f5462fb01f9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_39_success.json @@ -0,0 +1,700 @@ +{ + "episode": 39, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19142154164754482, + 0.15172381333532825, + 1.1597659799022795 + ], + "current_z": 1.1597659799022795, + "required_z": 0.8611066272240556, + "initial_z": 0.7611066272240556, + "lift_margin": 0.29865935267822386, + "gripper_z": 1.1539469430176774, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1877229344971477, + 0.14741336504565847, + 1.1539469430176774 + ], + "object_minus_gripper": [ + 0.003698607150397132, + 0.004310448289669783, + 0.005819036884602058 + ], + "object_to_gripper_xy": 0.005679758737031525, + "object_to_gripper_z": 0.005819036884602058, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19142154164754482, + 0.12823248704281423, + 1.1597659799022795 + ], + "finger_b": [ + 0.1816978105945512, + 0.15172381333532825, + 1.1597659799022795 + ], + "finger_midpoint": [ + 0.186559676121048, + 0.13997815018907123, + 1.1597659799022795 + ], + "object_minus_finger_midpoint": [ + 0.004861865526496811, + 0.011745663146257024, + 0.0 + ], + "finger_gap": 0.025424267080337105, + "fingertip_max_gap": 0.09045527106801218, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012712133540168565, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1597659799022795, + "object_top_z": 1.2096188842338158, + "finger_top_clearance": 0.04985290433153633, + "fingertip_min_top_clearance": 0.014955871299460898, + "object_projection_between_fingers": 0.8537253753777171, + "object_to_finger_line_xy": 0.008984461114443865, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047727635534006094, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.1975799672408442, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 349, + "max_stable_success_frames": 349, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3121334645376088, + -0.32354516179158943, + 0.8515396424077131 + ], + "target_position": [ + 0.30475475320200424, + -0.3242810095835165, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007415312059992049, + "xy_threshold": 0.08, + "gripper_dist": 0.1824885463359879, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396424077131, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07538775590845012, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0858235275338358, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15081647163723946, + "release_required_pad_clearance": 0.052911763766917905, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8622942750794218, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0077547430992126465, + "max_z_decrease": 0.0077547430992126465, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03514644533701951, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0077547430992126465, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02108036663690947, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0077547430992126465, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007754765623867416, + "max_button_displacement": 0.12, + "button_start": [ + 0.16045467555522913, + -0.38054245710372925, + 0.7768088579177856 + ], + "button_final": [ + 0.16045467555522913, + -0.38054245710372925, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15953224352092024, + -0.3807194729651111, + 0.8078204786661655 + ], + "closest_button": [ + 0.1604428887367248, + -0.380549669265747, + 0.772686243057251 + ], + "closest_ee_minus_button": [ + -0.0009106452158045564, + -0.00016980369936409057, + 0.03513423560891449 + ], + "button_min_z_position": [ + 0.16043604910373682, + -0.3805440068244934, + 0.769054114818573 + ], + "min_active_finger_to_button": 0.1469734901472759, + "closest_active_finger": [ + 0.03296651691198349, + -0.44523531198501587, + 0.8105680346488953 + ], + "closest_active_finger_button": [ + 0.16045470535755152, + -0.3805449903011322, + 0.7764633297920227 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12748818844556803, + -0.06469032168388367, + 0.03410470485687256 + ], + "min_contact_pad_to_button": 0.02108036663690947, + "closest_contact_pad": [ + 0.16043604910373682, + -0.38176796338071267, + 0.7900989191154776 + ], + "closest_contact_pad_button": [ + 0.16043604910373682, + -0.3805440068244934, + 0.769054114818573 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0012239565562192634, + 0.021044804296904585 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 39, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0b91cae50d3ab6cb72b6c4c72ee15d1a3c3dec222237dd8cd5ad0a2f2c75cec3", + "visual_seed": 5447469697746529245, + "episode_index": 39, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_3_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_3_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2cfc580bffcf98b65eb105b2b87191afead22e52 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_3_success.json @@ -0,0 +1,700 @@ +{ + "episode": 3, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19619761432236643, + 0.1481754343752137, + 1.161790035575823 + ], + "current_z": 1.161790035575823, + "required_z": 0.8611063888054766, + "initial_z": 0.7611063888054767, + "lift_margin": 0.3006836467703464, + "gripper_z": 1.1559130316571227, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19218499318384616, + 0.14366624894218682, + 1.1559130316571227 + ], + "object_minus_gripper": [ + 0.004012621138520273, + 0.004509185433026863, + 0.005877003918700385 + ], + "object_to_gripper_xy": 0.006036048514609652, + "object_to_gripper_z": 0.005877003918700385, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19619761432236643, + 0.12471976874133317, + 1.161790035575823 + ], + "finger_b": [ + 0.18581182878919617, + 0.1481754343752137, + 1.161790035575823 + ], + "finger_midpoint": [ + 0.1910047215557813, + 0.13644760155827343, + 1.161790035575823 + ], + "object_minus_finger_midpoint": [ + 0.005192892766585133, + 0.011727832816940259, + 0.0 + ], + "finger_gap": 0.025652149841083736, + "fingertip_max_gap": 0.09078235468140752, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012826074920541868, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.161790035575823, + "object_top_z": 1.2116780680073602, + "finger_top_clearance": 0.049888032431537166, + "fingertip_min_top_clearance": 0.014966409729461116, + "object_projection_between_fingers": 0.8360802948738418, + "object_to_finger_line_xy": 0.009496495004137389, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047891177340703764, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.46742677505223684, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 361, + "max_stable_success_frames": 361, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3195743537417086, + -0.32484717901999227, + 0.8515395886372971 + ], + "target_position": [ + 0.31233828678902575, + -0.3258612532920819, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0073067784674932575, + "xy_threshold": 0.08, + "gripper_dist": 0.18370240093057597, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395886372971, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07538247101387205, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08619498423555626, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15221762746206216, + "release_required_pad_clearance": 0.05309749211777813, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.222676101151063, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007582545280456543, + "max_z_decrease": 0.007582545280456543, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03511835433931248, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007582545280456543, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021156204749217117, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007582545280456543, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007582566566243583, + "max_button_displacement": 0.12, + "button_start": [ + 0.16803821921348575, + -0.38212272524833674, + 0.7768088579177856 + ], + "button_final": [ + 0.16803821921348575, + -0.38212272524833674, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16844637662993742, + -0.3823679161255801, + 0.808192827198196 + ], + "closest_button": [ + 0.168035626411438, + -0.38213211297988886, + 0.773077666759491 + ], + "closest_ee_minus_button": [ + 0.0004107502184994283, + -0.00023580314569121574, + 0.035115160438704995 + ], + "button_min_z_position": [ + 0.16802060604095462, + -0.3821262717247009, + 0.7692263126373291 + ], + "min_active_finger_to_button": 0.1457873538894411, + "closest_active_finger": [ + 0.02723059058189392, + -0.36644577980041504, + 0.8107632994651794 + ], + "closest_active_finger_button": [ + 0.16804081201553348, + -0.38212576508522034, + 0.7764038443565369 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14081022143363955, + 0.015679985284805298, + 0.03435945510864258 + ], + "min_contact_pad_to_button": 0.021156204749217117, + "closest_contact_pad": [ + 0.16802060604095462, + -0.3835763843080914, + 0.7903327612463749 + ], + "closest_contact_pad_button": [ + 0.16802060604095462, + -0.3821262717247009, + 0.7692263126373291 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0014501125833904505, + 0.021106448609045758 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 3, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0239e008c3632353dd8f307f794ce2d0ec083982e09f5f3cff164be47b45605b", + "visual_seed": 7549753461025148016, + "episode_index": 3, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_40_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_40_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f8a669f8b7b76980a26fc2c83a18e6d962e23316 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_40_success.json @@ -0,0 +1,700 @@ +{ + "episode": 40, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19787766745554627, + 0.14710410650436156, + 1.1633625512234587 + ], + "current_z": 1.1633625512234587, + "required_z": 0.8611063888054765, + "initial_z": 0.7611063888054765, + "lift_margin": 0.30225616241798214, + "gripper_z": 1.1575182990060506, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19401239550632823, + 0.14277968992574114, + 1.1575182990060506 + ], + "object_minus_gripper": [ + 0.003865271949218041, + 0.004324416578620427, + 0.00584425221740803 + ], + "object_to_gripper_xy": 0.005800078101789581, + "object_to_gripper_z": 0.00584425221740803, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19787766745554627, + 0.12331879625884345, + 1.1633625512234587 + ], + "finger_b": [ + 0.18835845076204322, + 0.14710410650436156, + 1.1633625512234587 + ], + "finger_midpoint": [ + 0.19311805910879476, + 0.1352114513816025, + 1.1633625512234587 + ], + "object_minus_finger_midpoint": [ + 0.004759608346751515, + 0.011892655122759055, + 0.0 + ], + "finger_gap": 0.0256194549109347, + "fingertip_max_gap": 0.09066670446247832, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012809727455467344, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1633625512234587, + "object_top_z": 1.2133047934890104, + "finger_top_clearance": 0.04994224226555177, + "fingertip_min_top_clearance": 0.014982672679665498, + "object_projection_between_fingers": 0.8619416573023806, + "object_to_finger_line_xy": 0.008837718176925292, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04783335223123916, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.33091008573116565, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 358, + "max_stable_success_frames": 358, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.31812471885844595, + -0.31506503415349785, + 0.8515395212283867 + ], + "target_position": [ + 0.31040032773510967, + -0.3163459056876074, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007829869099363573, + "xy_threshold": 0.08, + "gripper_dist": 0.18507597816425125, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395212283867, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07583532906610509, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08569469380291071, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15231012770737595, + "release_required_pad_clearance": 0.05284734690145536, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7380708447878551, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0074051618576049805, + "max_z_decrease": 0.0074051618576049805, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03511586875256175, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0074051618576049805, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021162914517663223, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0074051618576049805, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007405179016580222, + "max_button_displacement": 0.12, + "button_start": [ + 0.16610024869441986, + -0.37260735034942627, + 0.7768088579177856 + ], + "button_final": [ + 0.16610024869441986, + -0.37260735034942627, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16487432388951556, + -0.37299453100354224, + 0.8061588912063015 + ], + "closest_button": [ + 0.1660853624343872, + -0.3726107180118561, + 0.7710660099983215 + ], + "closest_ee_minus_button": [ + -0.0012110385448716454, + -0.000383812991686161, + 0.03509288120797993 + ], + "button_min_z_position": [ + 0.16608461737632754, + -0.372610479593277, + 0.7694036960601807 + ], + "min_active_finger_to_button": 0.14709385216332616, + "closest_active_finger": [ + 0.024066321551799774, + -0.3558662533760071, + 0.8107150197029114 + ], + "closest_active_finger_button": [ + 0.16610245406627658, + -0.372610479593277, + 0.7763352394104004 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1420361325144768, + 0.016744226217269897, + 0.034379780292510986 + ], + "min_contact_pad_to_button": 0.021162914517663223, + "closest_contact_pad": [ + 0.16608461737632754, + -0.3743333166981581, + 0.790496367374928 + ], + "closest_contact_pad_button": [ + 0.16608461737632754, + -0.372610479593277, + 0.7694036960601807 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0017228371048811364, + 0.021092671314747347 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 40, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "19c151c04c1b8eacc44a63109d23008f49d6486cd35e27a0879b9edd103bf161", + "visual_seed": 3094683712222089350, + "episode_index": 40, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_41_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_41_success.json new file mode 100644 index 0000000000000000000000000000000000000000..70194a5d3dbbceb1b570c3a7cf962dd682a758bc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_41_success.json @@ -0,0 +1,700 @@ +{ + "episode": 41, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19689989086429027, + 0.1525590577001763, + 1.1603809067037183 + ], + "current_z": 1.1603809067037183, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 0.29927433908430745, + "gripper_z": 1.1544532427249106, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1930804011592783, + 0.14817977607467464, + 1.1544532427249106 + ], + "object_minus_gripper": [ + 0.0038194897050119747, + 0.004379281625501663, + 0.005927663978807729 + ], + "object_to_gripper_xy": 0.005810904332558655, + "object_to_gripper_z": 0.005927663978807729, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19689989086429027, + 0.12892148689624577, + 1.1603809067037183 + ], + "finger_b": [ + 0.18715377631658595, + 0.1525590577001763, + 1.1603809067037183 + ], + "finger_midpoint": [ + 0.1920268335904381, + 0.14074027229821104, + 1.1603809067037183 + ], + "object_minus_finger_midpoint": [ + 0.004873057273852177, + 0.011818785401965265, + 0.0 + ], + "finger_gap": 0.025567978064129415, + "fingertip_max_gap": 0.09055229133853007, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012783989032064713, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1603809067037183, + "object_top_z": 1.2102283813969281, + "finger_top_clearance": 0.049847474693209826, + "fingertip_min_top_clearance": 0.01495424240796298, + "object_projection_between_fingers": 0.8546984481242355, + "object_to_finger_line_xy": 0.009010273401625848, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04777614566926504, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.30068404964821366, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 350, + "max_stable_success_frames": 350, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3137239431424508, + -0.3161620979330047, + 0.8515395803715852 + ], + "target_position": [ + 0.3059036224666617, + -0.31724162612807016, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007894478867925072, + "xy_threshold": 0.08, + "gripper_dist": 0.18415821174911512, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395803715852, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07564152051498378, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08499580204769962, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1520532330185556, + "release_required_pad_clearance": 0.05249790102384981, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.06852803189525132, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007657408714294434, + "max_z_decrease": 0.007657408714294434, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035209101104318866, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007657408714294434, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.0211365631524663, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007657408714294434, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007657428534831386, + "max_button_displacement": 0.12, + "button_start": [ + 0.16160355508327479, + -0.37350308895111084, + 0.7768088579177856 + ], + "button_final": [ + 0.16160355508327479, + -0.37350308895111084, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16367711880470764, + -0.37411379846727605, + 0.807893163251074 + ], + "closest_button": [ + 0.16159296035766596, + -0.37351080775260925, + 0.772750973701477 + ], + "closest_ee_minus_button": [ + 0.002084158447041684, + -0.0006029907146667957, + 0.035142189549596914 + ], + "button_min_z_position": [ + 0.16158635914325706, + -0.3735058903694153, + 0.7691514492034912 + ], + "min_active_finger_to_button": 0.14406799354263838, + "closest_active_finger": [ + 0.022262156009674072, + -0.36043012142181396, + 0.8107309937477112 + ], + "closest_active_finger_button": [ + 0.161603957414627, + -0.37350597977638245, + 0.7765480875968933 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13934180140495292, + 0.013075858354568481, + 0.03418290615081787 + ], + "min_contact_pad_to_button": 0.0211365631524663, + "closest_contact_pad": [ + 0.16158635914325706, + -0.3750927627937468, + 0.7902283592665695 + ], + "closest_contact_pad_button": [ + 0.16158635914325706, + -0.3735058903694153, + 0.7691514492034912 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0015868724243315313, + 0.021076910063078325 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 41, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f5eebdc9c5dfc4d1c8b860f69f49dce3430e80691588fe85e7d63c4ed3ccb5b7", + "visual_seed": 1791733093172282941, + "episode_index": 41, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_42_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_42_success.json new file mode 100644 index 0000000000000000000000000000000000000000..cba3f4b6bb66d617b8aafc6f762fd26f8cb01758 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_42_success.json @@ -0,0 +1,700 @@ +{ + "episode": 42, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.18893796881705027, + 0.15424568195353802, + 1.1624415669374204 + ], + "current_z": 1.1624415669374204, + "required_z": 0.861106567619411, + "initial_z": 0.761106567619411, + "lift_margin": 0.30133499931800944, + "gripper_z": 1.1567148457947733, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18513168200603408, + 0.14985828161247655, + 1.1567148457947733 + ], + "object_minus_gripper": [ + 0.0038062868110161907, + 0.00438740034106147, + 0.005726721142647051 + ], + "object_to_gripper_xy": 0.005808364747539716, + "object_to_gripper_z": 0.005726721142647051, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18893796881705027, + 0.13080038259757032, + 1.1624415669374204 + ], + "finger_b": [ + 0.17893336502946816, + 0.15424568195353802, + 1.1624415669374204 + ], + "finger_midpoint": [ + 0.18393566692325922, + 0.14252303227555418, + 1.1624415669374204 + ], + "object_minus_finger_midpoint": [ + 0.005002301893791056, + 0.011722649677983837, + 0.0 + ], + "finger_gap": 0.02549066807358022, + "fingertip_max_gap": 0.09056339304788785, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012745334036790098, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1624415669374204, + "object_top_z": 1.2123302167334784, + "finger_top_clearance": 0.049888649796058004, + "fingertip_min_top_clearance": 0.014966594938817433, + "object_projection_between_fingers": 0.8459586371892899, + "object_to_finger_line_xy": 0.009201835356399363, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04778169652394393, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.2859959033640484, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 357, + "max_stable_success_frames": 357, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.31870674423790163, + -0.3230814291287285, + 0.8515395658044743 + ], + "target_position": [ + 0.3106838661990853, + -0.32442180085613276, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008134074525927727, + "xy_threshold": 0.08, + "gripper_dist": 0.1858186454902864, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395658044743, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07527465194173456, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08633489278279548, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1544091274799444, + "release_required_pad_clearance": 0.05316744639139774, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3590994197096922, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007831990718841553, + "max_z_decrease": 0.007831990718841553, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03515826519912901, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007831990718841553, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021077173925028725, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007831990718841553, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007832012281999527, + "max_button_displacement": 0.12, + "button_start": [ + 0.16638378798961637, + -0.380683273077011, + 0.7768088579177856 + ], + "button_final": [ + 0.16638378798961637, + -0.380683273077011, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1671189719771048, + -0.37964194234927273, + 0.8079247779814664 + ], + "closest_button": [ + 0.166375994682312, + -0.3806927502155303, + 0.7727900743484497 + ], + "closest_ee_minus_button": [ + 0.0007429772947927793, + 0.0010508078662575526, + 0.03513470363301674 + ], + "button_min_z_position": [ + 0.1663656383752823, + -0.3806861639022826, + 0.7689768671989441 + ], + "min_active_finger_to_button": 0.1450338681491553, + "closest_active_finger": [ + 0.04071326553821564, + -0.44451186060905457, + 0.8108047246932983 + ], + "closest_active_finger_button": [ + 0.16638606786727902, + -0.38068634271621693, + 0.7766364216804504 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1256728023290634, + -0.06382551789283764, + 0.0341683030128479 + ], + "min_contact_pad_to_button": 0.021077173925028725, + "closest_contact_pad": [ + 0.1663656383752823, + -0.3806861639022826, + 0.7900540411239728 + ], + "closest_contact_pad_button": [ + 0.1663656383752823, + -0.3806861639022826, + 0.7689768671989441 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021077173925028725 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 42, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4ca1048473aa43c6d4a753aa667f25aad55e709bee19ec06d3590ffe2192ce82", + "visual_seed": 5358710154537047735, + "episode_index": 42, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_43_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_43_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a9baa0e3fa87db932d2d391011c0c52792ab0711 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_43_success.json @@ -0,0 +1,700 @@ +{ + "episode": 43, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19359239975886447, + 0.14614819331920903, + 1.160188579865804 + ], + "current_z": 1.160188579865804, + "required_z": 0.8611067464333448, + "initial_z": 0.7611067464333449, + "lift_margin": 0.2990818334324592, + "gripper_z": 1.1546015705475658, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18966088141193796, + 0.14155788267946245, + 1.1546015705475658 + ], + "object_minus_gripper": [ + 0.00393151834692651, + 0.004590310639746575, + 0.00558700931823819 + ], + "object_to_gripper_xy": 0.0060438223237939724, + "object_to_gripper_z": 0.00558700931823819, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19359239975886447, + 0.12272264631154634, + 1.160188579865804 + ], + "finger_b": [ + 0.18315607935464995, + 0.14614819331920903, + 1.160188579865804 + ], + "finger_midpoint": [ + 0.1883742395567572, + 0.13443541981537768, + 1.160188579865804 + ], + "object_minus_finger_midpoint": [ + 0.005218160202107275, + 0.011712773503831347, + 0.0 + ], + "finger_gap": 0.02564513669660661, + "fingertip_max_gap": 0.09071043659500144, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012822568348303311, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.160188579865804, + "object_top_z": 1.210120072930753, + "finger_top_clearance": 0.04993149306494904, + "fingertip_min_top_clearance": 0.01497944791948471, + "object_projection_between_fingers": 0.8343906811038098, + "object_to_finger_line_xy": 0.009533055608485263, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04785521829750072, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.33470932262548486, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 350, + "max_stable_success_frames": 350, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3155626671428844, + -0.3232823298068556, + 0.8515395960565467 + ], + "target_position": [ + 0.3072589780900408, + -0.32461595410522154, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008410101405780199, + "xy_threshold": 0.08, + "gripper_dist": 0.1853042150161032, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395960565467, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07528700648279339, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08664418419220198, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15404672453577323, + "release_required_pad_clearance": 0.05332209209610099, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.6617311959590213, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007771015167236328, + "max_z_decrease": 0.007771015167236328, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035156877813490646, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007771015167236328, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021152238069630017, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007771015167236328, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007771035661520597, + "max_button_displacement": 0.12, + "button_start": [ + 0.16295890510082245, + -0.3808774054050445, + 0.7768088579177856 + ], + "button_final": [ + 0.16295890510082245, + -0.3808774054050445, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16376138567951065, + -0.38177007522742723, + 0.8079740738534084 + ], + "closest_button": [ + 0.1629483699798584, + -0.3808867931365966, + 0.7728376984596252 + ], + "closest_ee_minus_button": [ + 0.0008130156996522531, + -0.000883282090830606, + 0.035136375393783115 + ], + "button_min_z_position": [ + 0.16294124722480774, + -0.38087999820709223, + 0.7690378427505493 + ], + "min_active_finger_to_button": 0.14528323044981944, + "closest_active_finger": [ + 0.022400885820388794, + -0.36746180057525635, + 0.8108845949172974 + ], + "closest_active_finger_button": [ + 0.16296176612377167, + -0.38088014721870417, + 0.7766821980476379 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14056088030338287, + 0.01341834664344782, + 0.034202396869659424 + ], + "min_contact_pad_to_button": 0.021152238069630017, + "closest_contact_pad": [ + 0.16294124722480774, + -0.3827843189438744, + 0.7901041841008115 + ], + "closest_contact_pad_button": [ + 0.16294124722480774, + -0.38087999820709223, + 0.7690378427505493 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0019043207367821502, + 0.021066341350262197 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 43, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e055273306f6b3619d43532502fd9b67841ab52c1ce8afc0b5246293d57a0084", + "visual_seed": 647007317345448444, + "episode_index": 43, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_44_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_44_success.json new file mode 100644 index 0000000000000000000000000000000000000000..836b222be89b1c5c64cdc19e52c8344b04cb9094 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_44_success.json @@ -0,0 +1,700 @@ +{ + "episode": 44, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19081196207355947, + 0.15487081854162638, + 1.16128711367549 + ], + "current_z": 1.16128711367549, + "required_z": 0.8611066868287001, + "initial_z": 0.7611066868287001, + "lift_margin": 0.30018042684679, + "gripper_z": 1.1554899019486238, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18710177568576852, + 0.1506827918054283, + 1.1554899019486238 + ], + "object_minus_gripper": [ + 0.0037101863877909425, + 0.004188026736198086, + 0.005797211726866314 + ], + "object_to_gripper_xy": 0.005595091686045832, + "object_to_gripper_z": 0.005797211726866314, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19081196207355947, + 0.13129448476965805, + 1.16128711367549 + ], + "finger_b": [ + 0.18136712547716966, + 0.15487081854162638, + 1.16128711367549 + ], + "finger_midpoint": [ + 0.18608954377536457, + 0.1430826516556422, + 1.16128711367549 + ], + "object_minus_finger_midpoint": [ + 0.0047224182981948915, + 0.011788166885984164, + 0.0 + ], + "finger_gap": 0.025397804087356816, + "fingertip_max_gap": 0.09033065042131744, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012698902043678403, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.16128711367549, + "object_top_z": 1.2112079053285636, + "finger_top_clearance": 0.049920791653073504, + "fingertip_min_top_clearance": 0.01497623749592205, + "object_projection_between_fingers": 0.8617081585230696, + "object_to_finger_line_xy": 0.008767475300316853, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04766532521065872, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.07799988831544641, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 355, + "max_stable_success_frames": 355, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.31775362348059955, + -0.3237941409517149, + 0.8515395996896044 + ], + "target_position": [ + 0.3106618566784156, + -0.32468795121772476, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007147870533815139, + "xy_threshold": 0.08, + "gripper_dist": 0.18252659706661267, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395996896044, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07584542090429965, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08613985810452039, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14984704047682265, + "release_required_pad_clearance": 0.0530699290522602, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1690058430683439, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007567644119262695, + "max_z_decrease": 0.007567644119262695, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035178297879782904, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007567644119262695, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021277293192718094, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007567644119262695, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007567666711158742, + "max_button_displacement": 0.12, + "button_start": [ + 0.16636177897453303, + -0.3809494078159332, + 0.7768088579177856 + ], + "button_final": [ + 0.16636177897453303, + -0.3809494078159332, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16753799633331656, + -0.38254556978609594, + 0.8082144573034105 + ], + "closest_button": [ + 0.1663580387830734, + -0.3809584975242615, + 0.7730917930603027 + ], + "closest_ee_minus_button": [ + 0.0011799575502431658, + -0.0015870722618344657, + 0.035122664243107726 + ], + "button_min_z_position": [ + 0.16634356975555414, + -0.3809526264667511, + 0.769241213798523 + ], + "min_active_finger_to_button": 0.14489326256851554, + "closest_active_finger": [ + 0.026291780173778534, + -0.36694011092185974, + 0.8107297420501709 + ], + "closest_active_finger_button": [ + 0.16636407375335688, + -0.3809524178504944, + 0.7764155268669128 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14007229357957834, + 0.014012306928634644, + 0.03431421518325806 + ], + "min_contact_pad_to_button": 0.021277293192718094, + "closest_contact_pad": [ + 0.16634356975555414, + -0.3837280072163064, + 0.7903367220243014 + ], + "closest_contact_pad_button": [ + 0.16634356975555414, + -0.3809526264667511, + 0.769241213798523 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0027753807495553007, + 0.021095508225778437 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 44, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3019555777c15c9b0a2262357d8ca22c64bafe8323e7042d2abaf99f59c3bfe8", + "visual_seed": 7866718573802538541, + "episode_index": 44, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_45_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2606b3a40c313c5f87e7f422ae8588239a20d5fe --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_45_success.json @@ -0,0 +1,700 @@ +{ + "episode": 45, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19739893780363008, + 0.15025800165380374, + 1.1632860419311257 + ], + "current_z": 1.1632860419311257, + "required_z": 0.8611069252472794, + "initial_z": 0.7611069252472794, + "lift_margin": 0.30217911668384634, + "gripper_z": 1.157412126543773, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.193482821104575, + 0.1458334529618277, + 1.157412126543773 + ], + "object_minus_gripper": [ + 0.003916116699055089, + 0.004424548691976032, + 0.005873915387352824 + ], + "object_to_gripper_xy": 0.005908688613244477, + "object_to_gripper_z": 0.005873915387352824, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19739893780363008, + 0.12650932574076612, + 1.1632860419311257 + ], + "finger_b": [ + 0.18763341930696614, + 0.15025800165380374, + 1.1632860419311257 + ], + "finger_midpoint": [ + 0.19251617855529812, + 0.13838366369728494, + 1.1632860419311257 + ], + "object_minus_finger_midpoint": [ + 0.004882759248331953, + 0.011874337956518793, + 0.0 + ], + "finger_gap": 0.025678102716734708, + "fingertip_max_gap": 0.09138220783698223, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012839051358367336, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1632860419311257, + "object_top_z": 1.2135551502568873, + "finger_top_clearance": 0.05026910832576159, + "fingertip_min_top_clearance": 0.015080732497728476, + "object_projection_between_fingers": 0.8553678805826367, + "object_to_finger_line_xy": 0.009031747261798386, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048191103918491116, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.22322992989151855, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 357, + "max_stable_success_frames": 357, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3171367068855353, + -0.3214803900391786, + 0.8515396082288447 + ], + "target_position": [ + 0.30899086065392195, + -0.3228032738205862, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008252565196846416, + "xy_threshold": 0.08, + "gripper_dist": 0.18428375290575866, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396082288447, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754059314092334, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08542438740036122, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15272340745406174, + "release_required_pad_clearance": 0.05271219370018061, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.47806221324436027, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007744491100311279, + "max_z_decrease": 0.007744491100311279, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03514070079286388, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007744491100311279, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02117676841511507, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007744491100311279, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007744512737362094, + "max_button_displacement": 0.12, + "button_start": [ + 0.16469079256057734, + -0.37906473875045765, + 0.7768088579177856 + ], + "button_final": [ + 0.16469079256057734, + -0.37906473875045765, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16597774848928265, + -0.37944846973771124, + 0.8079233356956904 + ], + "closest_button": [ + 0.16468757390975947, + -0.3790749609470367, + 0.772808313369751 + ], + "closest_ee_minus_button": [ + 0.0012901745795231845, + -0.00037350879067454823, + 0.03511502232593944 + ], + "button_min_z_position": [ + 0.16467288136482233, + -0.37906852364540095, + 0.7690643668174744 + ], + "min_active_finger_to_button": 0.14491941169940933, + "closest_active_finger": [ + 0.02483978122472763, + -0.36286211013793945, + 0.8104168176651001 + ], + "closest_active_finger_button": [ + 0.16469271481037134, + -0.3790686130523681, + 0.7760636210441589 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1398529335856437, + 0.016206502914428655, + 0.03435319662094116 + ], + "min_contact_pad_to_button": 0.02117676841511507, + "closest_contact_pad": [ + 0.16467288136482233, + -0.3807281714984066, + 0.7901760008023517 + ], + "closest_contact_pad_button": [ + 0.16467288136482233, + -0.37906852364540095, + 0.7690643668174744 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0016596478530056524, + 0.021111633984877365 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 45, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "957def581ec4f907ccbfbdccd63f71c6478bc5652b4b602002adf3a86e740ca3", + "visual_seed": 996005019155492694, + "episode_index": 45, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_46_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_46_success.json new file mode 100644 index 0000000000000000000000000000000000000000..684c778c0f7b4b08cec500789959b35a7dd7f4a7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_46_success.json @@ -0,0 +1,700 @@ +{ + "episode": 46, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19770423102134183, + 0.14938167484823486, + 1.159374956035069 + ], + "current_z": 1.159374956035069, + "required_z": 0.8611067464333451, + "initial_z": 0.7611067464333451, + "lift_margin": 0.29826820960172395, + "gripper_z": 1.1534309774690947, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19379857598096645, + 0.14484587786413194, + 1.1534309774690947 + ], + "object_minus_gripper": [ + 0.0039056550403753776, + 0.004535796984102919, + 0.005943978565974284 + ], + "object_to_gripper_xy": 0.0059856157223302205, + "object_to_gripper_z": 0.005943978565974284, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19770423102134183, + 0.12594071501221624, + 1.159374956035069 + ], + "finger_b": [ + 0.18739544898775234, + 0.14938167484823486, + 1.159374956035069 + ], + "finger_midpoint": [ + 0.19254984000454708, + 0.13766119493022555, + 1.159374956035069 + ], + "object_minus_finger_midpoint": [ + 0.00515439101679474, + 0.011720479918009313, + 0.0 + ], + "finger_gap": 0.025607607952518634, + "fingertip_max_gap": 0.09074910277841614, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012803803976259317, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.159374956035069, + "object_top_z": 1.209272842199423, + "finger_top_clearance": 0.04989788616435398, + "fingertip_min_top_clearance": 0.014969365849306226, + "object_projection_between_fingers": 0.8379396808799031, + "object_to_finger_line_xy": 0.009436560652431958, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04787455138920807, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.39694539122854305, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 348, + "max_stable_success_frames": 348, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.31898947460380883, + -0.3220809575646193, + 0.851539644458719 + ], + "target_position": [ + 0.31079780669990426, + -0.32345383053043103, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008305913750341806, + "xy_threshold": 0.08, + "gripper_dist": 0.18704354456711375, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539644458719, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0752885761932267, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08682718813763622, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15563630602106793, + "release_required_pad_clearance": 0.05341359406881811, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.8417971990063313, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007823288440704346, + "max_z_decrease": 0.007823288440704346, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03525533230438812, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007823288440704346, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021091414295229538, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007823288440704346, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007823310153525583, + "max_button_displacement": 0.12, + "button_start": [ + 0.16649773716926575, + -0.37971529364585876, + 0.7768088579177856 + ], + "button_final": [ + 0.16649773716926575, + -0.37971529364585876, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1687979579777168, + -0.37798826061902874, + 0.8079324422013207 + ], + "closest_button": [ + 0.1664920449256897, + -0.3797250390052795, + 0.7727954983711243 + ], + "closest_ee_minus_button": [ + 0.0023059130520270976, + 0.001736778386250748, + 0.03513694383019639 + ], + "button_min_z_position": [ + 0.16647955775260925, + -0.3797183334827423, + 0.7689855694770813 + ], + "min_active_finger_to_button": 0.14339114770185302, + "closest_active_finger": [ + 0.04241837561130524, + -0.44292396306991577, + 0.8108454346656799 + ], + "closest_active_finger_button": [ + 0.16650287806987762, + -0.3797166645526886, + 0.7766563296318054 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12408450245857239, + -0.06320729851722717, + 0.03418910503387451 + ], + "min_contact_pad_to_button": 0.021091414295229538, + "closest_contact_pad": [ + 0.16647955775260925, + -0.3797183334827423, + 0.7900769837723108 + ], + "closest_contact_pad_button": [ + 0.16647955775260925, + -0.3797183334827423, + 0.7689855694770813 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021091414295229538 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 46, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "31b090f03a4247cc2f0ab679e6b46361bc9318acfdbbcf4d5c45aadf37713b2d", + "visual_seed": 9037805795961701556, + "episode_index": 46, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_47_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_47_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b3ffb4b4abf505be5847af739d9b65912d8f5726 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_47_success.json @@ -0,0 +1,700 @@ +{ + "episode": 47, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19407216135412098, + 0.14964083640666145, + 1.1596538264402954 + ], + "current_z": 1.1596538264402954, + "required_z": 0.8611066868287003, + "initial_z": 0.7611066868287003, + "lift_margin": 0.29854713961159507, + "gripper_z": 1.1537374603470234, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1903019032345979, + 0.14525021717041567, + 1.1537374603470234 + ], + "object_minus_gripper": [ + 0.0037702581195230844, + 0.004390619236245785, + 0.005916366093271952 + ], + "object_to_gripper_xy": 0.005787260454266877, + "object_to_gripper_z": 0.005916366093271952, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19407216135412098, + 0.1262335782387669, + 1.1596538264402954 + ], + "finger_b": [ + 0.18405788386939156, + 0.14964083640666145, + 1.1596538264402954 + ], + "finger_midpoint": [ + 0.18906502261175628, + 0.1379372073227142, + 1.1596538264402954 + ], + "object_minus_finger_midpoint": [ + 0.005007138742364692, + 0.011703629083947259, + 0.0 + ], + "finger_gap": 0.02545948719985586, + "fingertip_max_gap": 0.09070893816182937, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012729743599927911, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1596538264402954, + "object_top_z": 1.2095579104951228, + "finger_top_clearance": 0.04990408405482749, + "fingertip_min_top_clearance": 0.014971225216448246, + "object_projection_between_fingers": 0.8452823222309598, + "object_to_finger_line_xy": 0.009207050268134316, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04785446908091469, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.38832635611664784, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 348, + "max_stable_success_frames": 348, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.31996322235369967, + -0.32283058002533194, + 0.8515395954943119 + ], + "target_position": [ + 0.3118072639864008, + -0.3241616292242508, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00826385798880009, + "xy_threshold": 0.08, + "gripper_dist": 0.1844786543713859, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395954943119, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07560134468741575, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08566677104032226, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1522871542536163, + "release_required_pad_clearance": 0.05283338552016113, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7110655402543662, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007879137992858887, + "max_z_decrease": 0.007879137992858887, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03513055651141945, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007879137992858887, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021092999195391964, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007879137992858887, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007879161024864374, + "max_button_displacement": 0.12, + "button_start": [ + 0.16750718653202057, + -0.3804230988025664, + 0.7768088579177856 + ], + "button_final": [ + 0.16750718653202057, + -0.3804230988025664, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1676543347852524, + -0.38028267096149415, + 0.8078274013175164 + ], + "closest_button": [ + 0.16749870777130127, + -0.3804323375225066, + 0.7726975083351135 + ], + "closest_ee_minus_button": [ + 0.00015562701395113732, + 0.00014966656101245146, + 0.03512989298240288 + ], + "button_min_z_position": [ + 0.16748835146427155, + -0.38042595982551564, + 0.7689297199249268 + ], + "min_active_finger_to_button": 0.14593642233237591, + "closest_active_finger": [ + 0.0412607416510582, + -0.44516581296920776, + 0.8106918931007385 + ], + "closest_active_finger_button": [ + 0.167508527636528, + -0.3804251849651335, + 0.7765219211578369 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1262477859854698, + -0.06474062800407426, + 0.03416997194290161 + ], + "min_contact_pad_to_button": 0.021092999195391964, + "closest_contact_pad": [ + 0.16748835146427155, + -0.3812869127056452, + 0.7900051410404111 + ], + "closest_contact_pad_button": [ + 0.16748835146427155, + -0.38042595982551564, + 0.7689297199249268 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0008609528801295507, + 0.021075421115484327 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 47, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "83e208e9862546bcd5e1ab2542d464815f3024531237eb6046496aa696153c1e", + "visual_seed": 4829475348898442818, + "episode_index": 47, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_48_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_48_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b1a709e498c779acaf35da29b6ce584865f69b32 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_48_success.json @@ -0,0 +1,700 @@ +{ + "episode": 48, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.1948037723818355, + 0.15253435407838273, + 1.1607049737007964 + ], + "current_z": 1.1607049737007964, + "required_z": 0.8611066272240556, + "initial_z": 0.7611066272240556, + "lift_margin": 0.2995983464767408, + "gripper_z": 1.1547981791153925, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19103773669516863, + 0.14819329890019756, + 1.1547981791153925 + ], + "object_minus_gripper": [ + 0.003766035686666863, + 0.004341055178185171, + 0.005906794585403885 + ], + "object_to_gripper_xy": 0.005746980498774695, + "object_to_gripper_z": 0.005906794585403885, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1948037723818355, + 0.12891337823339163, + 1.1607049737007964 + ], + "finger_b": [ + 0.1851365040044201, + 0.15253435407838273, + 1.1607049737007964 + ], + "finger_midpoint": [ + 0.1899701381931278, + 0.14072386615588717, + 1.1607049737007964 + ], + "object_minus_finger_midpoint": [ + 0.004833634188707692, + 0.01181048792249556, + 0.0 + ], + "finger_gap": 0.025522667919922245, + "fingertip_max_gap": 0.09061573648675433, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012761333959961136, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1607049737007964, + "object_top_z": 1.2106045186913983, + "finger_top_clearance": 0.049899544990601896, + "fingertip_min_top_clearance": 0.014969863497180567, + "object_projection_between_fingers": 0.8565318787481566, + "object_to_finger_line_xy": 0.008946960934743474, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04780786824337717, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.2769633511878343, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 353, + "max_stable_success_frames": 353, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.31873537963433163, + -0.32174896922767193, + 0.8515395775490635 + ], + "target_position": [ + 0.31094819707559346, + -0.3229761458647094, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007883284512283352, + "xy_threshold": 0.08, + "gripper_dist": 0.1856981545794561, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395775490635, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07564679065733759, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08528537501023213, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15343543815422134, + "release_required_pad_clearance": 0.05264268750511607, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.34491702932671076, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00784611701965332, + "max_z_decrease": 0.00784611701965332, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03516285222186491, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00784611701965332, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021223075856169678, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00784611701965332, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007846139033406401, + "max_button_displacement": 0.12, + "button_start": [ + 0.166648119688034, + -0.3792375922203064, + 0.7768088579177856 + ], + "button_final": [ + 0.166648119688034, + -0.3792375922203064, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1672763021999431, + -0.38067624240330955, + 0.8079155714009977 + ], + "closest_button": [ + 0.16663977503776545, + -0.3792478144168854, + 0.7727875113487244 + ], + "closest_ee_minus_button": [ + 0.000636527162177658, + -0.0014284279864241745, + 0.03512806005227331 + ], + "button_min_z_position": [ + 0.16662967205047602, + -0.37923985719680786, + 0.7689627408981323 + ], + "min_active_finger_to_button": 0.145421040703029, + "closest_active_finger": [ + 0.025921061635017395, + -0.3662230670452118, + 0.8108851313591003 + ], + "closest_active_finger_button": [ + 0.16665062308311457, + -0.3792405426502228, + 0.7766358256340027 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14072956144809717, + 0.013017475605010986, + 0.034249305725097656 + ], + "min_contact_pad_to_button": 0.021223075856169678, + "closest_contact_pad": [ + 0.16662967205047602, + -0.3817669958801187, + 0.7900348200283949 + ], + "closest_contact_pad_button": [ + 0.16662967205047602, + -0.37923985719680786, + 0.7689627408981323 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0025271386833108367, + 0.021072079130262544 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 48, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "fe1b786238820bb3812a4a23b4e3db7648ee354c2b7ff74e0cf84c12c848b694", + "visual_seed": 2486072181749733047, + "episode_index": 48, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_49_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_49_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7875e940ac78884fe1c4e38dd74738e05f25323e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_49_success.json @@ -0,0 +1,700 @@ +{ + "episode": 49, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19643364225177415, + 0.15431499679053384, + 1.160250209517204 + ], + "current_z": 1.160250209517204, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.2991438207117276, + "gripper_z": 1.154324656693885, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19258255139414768, + 0.14987290419856295, + 1.154324656693885 + ], + "object_minus_gripper": [ + 0.0038510908576264713, + 0.0044420925919708976, + 0.00592555282331908 + ], + "object_to_gripper_xy": 0.005879037964610955, + "object_to_gripper_z": 0.00592555282331908, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19643364225177415, + 0.13092991467868337, + 1.160250209517204 + ], + "finger_b": [ + 0.18620553816502788, + 0.15431499679053384, + 1.160250209517204 + ], + "finger_midpoint": [ + 0.191319590208401, + 0.1426224557346086, + 1.160250209517204 + ], + "object_minus_finger_midpoint": [ + 0.005114052043373146, + 0.011692541055925237, + 0.0 + ], + "finger_gap": 0.025524031393714133, + "fingertip_max_gap": 0.09090473359435003, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012762015696857074, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.160250209517204, + "object_top_z": 1.2101626384101827, + "finger_top_clearance": 0.049912428892978644, + "fingertip_min_top_clearance": 0.014973728667893593, + "object_projection_between_fingers": 0.8394198949282131, + "object_to_finger_line_xy": 0.009370974758165338, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04795236679717502, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.47952673705355225, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 357, + "max_stable_success_frames": 357, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.31174621231657007, + -0.3202109490232513, + 0.8515396718383073 + ], + "target_position": [ + 0.30367735771040666, + -0.3214294595317073, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008160342058677578, + "xy_threshold": 0.08, + "gripper_dist": 0.18633904301835197, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396718383073, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07518098502625957, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08718947443314672, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15522529504102883, + "release_required_pad_clearance": 0.05359473721657336, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.200057799345529, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007704377174377441, + "max_z_decrease": 0.007704377174377441, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035159117928241286, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007704377174377441, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021087109470627974, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007704377174377441, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007704396330484115, + "max_button_displacement": 0.12, + "button_start": [ + 0.15937727689743042, + -0.3776909112930298, + 0.7768088579177856 + ], + "button_final": [ + 0.15937727689743042, + -0.3776909112930298, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15933674819082563, + -0.3763189360935183, + 0.8078179650198476 + ], + "closest_button": [ + 0.159368634223938, + -0.37770020961761475, + 0.7726860046386719 + ], + "closest_ee_minus_button": [ + -3.188603311235494e-05, + 0.001381273524096449, + 0.03513196038117572 + ], + "button_min_z_position": [ + 0.15936042368412018, + -0.3776942491531372, + 0.7691044807434082 + ], + "min_active_finger_to_button": 0.14557739203086306, + "closest_active_finger": [ + 0.03170883655548096, + -0.43873196840286255, + 0.8106309175491333 + ], + "closest_active_finger_button": [ + 0.1593790054321289, + -0.3776942789554596, + 0.7764621376991272 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12767016887664795, + -0.061037689447402954, + 0.034168779850006104 + ], + "min_contact_pad_to_button": 0.021087109470627974, + "closest_contact_pad": [ + 0.15936042368412018, + -0.3776942491531372, + 0.7901915902140362 + ], + "closest_contact_pad_button": [ + 0.15936042368412018, + -0.3776942491531372, + 0.7691044807434082 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021087109470627974 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 49, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7b0b971eb575470c2f9cc8ac73ce4313fdd4fa00d27d693311b92151f33f4bcd", + "visual_seed": 3428813782019491319, + "episode_index": 49, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_4_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_4_success.json new file mode 100644 index 0000000000000000000000000000000000000000..069a2a53fdfebc738889f2b1e1f88cee0f8f7297 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_4_success.json @@ -0,0 +1,700 @@ +{ + "episode": 4, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19491217177684103, + 0.14868017611588852, + 1.1613094728982243 + ], + "current_z": 1.1613094728982243, + "required_z": 0.8611066272240557, + "initial_z": 0.7611066272240558, + "lift_margin": 0.30020284567416855, + "gripper_z": 1.1555307264815664, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19096019907133005, + 0.1441299783360784, + 1.1555307264815664 + ], + "object_minus_gripper": [ + 0.003951972705510981, + 0.004550197779810111, + 0.005778746416657876 + ], + "object_to_gripper_xy": 0.006026805795816939, + "object_to_gripper_z": 0.005778746416657876, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19491217177684103, + 0.1251975131478033, + 1.1613094728982243 + ], + "finger_b": [ + 0.18458503068598003, + 0.14868017611588852, + 1.1613094728982243 + ], + "finger_midpoint": [ + 0.18974860123141052, + 0.1369388446318459, + 1.1613094728982243 + ], + "object_minus_finger_midpoint": [ + 0.0051635705454305125, + 0.011741331484042605, + 0.0 + ], + "finger_gap": 0.025653173355030177, + "fingertip_max_gap": 0.09076492868873373, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012826586677515094, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1613094728982243, + "object_top_z": 1.2112450621447215, + "finger_top_clearance": 0.049935589246497214, + "fingertip_min_top_clearance": 0.014980676773949163, + "object_projection_between_fingers": 0.8379391811446438, + "object_to_finger_line_xy": 0.009453363539251967, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04788246434436687, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.4214772224833887, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 356, + "max_stable_success_frames": 356, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3188952515070852, + -0.32331055712013895, + 0.8515395924761372 + ], + "target_position": [ + 0.311024187588214, + -0.324652235809356, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007984594474364705, + "xy_threshold": 0.08, + "gripper_dist": 0.1847636584472184, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395924761372, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07531921246123062, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08648168640098235, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15327093874686157, + "release_required_pad_clearance": 0.053240843200491175, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5024271321652019, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007915258407592773, + "max_z_decrease": 0.007915258407592773, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035236392336684144, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007915258407592773, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021100997276904065, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007915258407592773, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007915278710575593, + "max_button_displacement": 0.12, + "button_start": [ + 0.16672411561012265, + -0.38091370463371266, + 0.7768088579177856 + ], + "button_final": [ + 0.16672411561012265, + -0.38091370463371266, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16871730210491387, + -0.37968028065526555, + 0.8042563565949407 + ], + "closest_button": [ + 0.16670441627502441, + -0.38091659545898426, + 0.769099235534668 + ], + "closest_ee_minus_button": [ + 0.0020128858298894547, + 0.0012363148037187188, + 0.03515712106027269 + ], + "button_min_z_position": [ + 0.16670645773410794, + -0.38091680407524103, + 0.7688935995101929 + ], + "min_active_finger_to_button": 0.14347097280607257, + "closest_active_finger": [ + 0.04256773740053177, + -0.4441404938697815, + 0.8107218146324158 + ], + "closest_active_finger_button": [ + 0.16672646999359128, + -0.3809165656566619, + 0.7764980792999268 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12415873259305951, + -0.06322392821311962, + 0.034223735332489014 + ], + "min_contact_pad_to_button": 0.021100997276904065, + "closest_contact_pad": [ + 0.16670645773410794, + -0.38091680407524103, + 0.7899945967870969 + ], + "closest_contact_pad_button": [ + 0.16670645773410794, + -0.38091680407524103, + 0.7688935995101929 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021100997276904065 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 4, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "fa4a5489f4953d84b08ed6b62209b19816bc7265d1a781a17ff55a5ed329f7a9", + "visual_seed": 4452034881614223133, + "episode_index": 4, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_50_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_50_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7032e71d3f23b0469b6527e8c2a2daf68579c18b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_50_success.json @@ -0,0 +1,700 @@ +{ + "episode": 50, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19755489293262513, + 0.15159985202465803, + 1.1614435826262133 + ], + "current_z": 1.1614435826262133, + "required_z": 0.86110680603799, + "initial_z": 0.76110680603799, + "lift_margin": 0.30033677658822333, + "gripper_z": 1.1556860254514696, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1935344129462291, + 0.14700691266499932, + 1.1556860254514696 + ], + "object_minus_gripper": [ + 0.004020479986396014, + 0.00459293935965871, + 0.005757557174743688 + ], + "object_to_gripper_xy": 0.0061040438467063005, + "object_to_gripper_z": 0.005757557174743688, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19755489293262513, + 0.12799539896810097, + 1.1614435826262133 + ], + "finger_b": [ + 0.18726632357708278, + 0.15159985202465803, + 1.1614435826262133 + ], + "finger_midpoint": [ + 0.19241060825485395, + 0.1397976254963795, + 1.1614435826262133 + ], + "object_minus_finger_midpoint": [ + 0.0051442846777711715, + 0.011802226528278531, + 0.0 + ], + "finger_gap": 0.02574926918347414, + "fingertip_max_gap": 0.09086873401116413, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01287463459173707, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1614435826262133, + "object_top_z": 1.2113902744046232, + "finger_top_clearance": 0.049946691778409935, + "fingertip_min_top_clearance": 0.014984007533522947, + "object_projection_between_fingers": 0.8403458675324362, + "object_to_finger_line_xy": 0.009431570684262194, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04793436700558207, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.4198962750864521, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 354, + "max_stable_success_frames": 354, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3180945521154505, + -0.3217471185437135, + 0.8515395964301405 + ], + "target_position": [ + 0.30996045156796836, + -0.32321403625012934, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008265315437050521, + "xy_threshold": 0.08, + "gripper_dist": 0.18419877320285108, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395964301405, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0757187879750334, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08548853538022781, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1519787970028084, + "release_required_pad_clearance": 0.05274426769011391, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.539590811192547, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007731616497039795, + "max_z_decrease": 0.007731616497039795, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03512565909324994, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007731616497039795, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02112042984587838, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007731616497039795, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007731641712962142, + "max_button_displacement": 0.12, + "button_start": [ + 0.16566038131713867, + -0.3794755041599273, + 0.7768088579177856 + ], + "button_final": [ + 0.16566038131713867, + -0.3794755041599273, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16622014695271564, + -0.3785921448976443, + 0.8079140864477499 + ], + "closest_button": [ + 0.16565628349781036, + -0.37948560714721674, + 0.772804319858551 + ], + "closest_ee_minus_button": [ + 0.0005638634549052779, + 0.0008934622495724298, + 0.03510976658919884 + ], + "button_min_z_position": [ + 0.16564102470874786, + -0.3794794082641601, + 0.7690772414207458 + ], + "min_active_finger_to_button": 0.14530902102396057, + "closest_active_finger": [ + 0.03852778673171997, + -0.44091010093688965, + 0.8109702467918396 + ], + "closest_active_finger_button": [ + 0.16566430032253265, + -0.3794779181480407, + 0.7766612768173218 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12713651359081268, + -0.06143218278884893, + 0.03430896997451782 + ], + "min_contact_pad_to_button": 0.02112042984587838, + "closest_contact_pad": [ + 0.16564102470874786, + -0.3799117694275497, + 0.7901932453206096 + ], + "closest_contact_pad_button": [ + 0.16564102470874786, + -0.3794794082641601, + 0.7690772414207458 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00043236116338957187, + 0.02111600389986379 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 50, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "545a5b121c917f4bbdfcbb40a0d874cff1bb23f3727a510dc30624c5b66b564f", + "visual_seed": 2251447428964346288, + "episode_index": 50, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_51_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_51_success.json new file mode 100644 index 0000000000000000000000000000000000000000..64f6576cb7409f6fea1584b8f86c7f4f56c7fe24 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_51_success.json @@ -0,0 +1,700 @@ +{ + "episode": 51, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19181478938319788, + 0.1444373556549425, + 1.1617035967457192 + ], + "current_z": 1.1617035967457192, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.30059714833559803, + "gripper_z": 1.1562139855194344, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18786987436152636, + 0.13988885608146384, + 1.1562139855194344 + ], + "object_minus_gripper": [ + 0.003944915021671519, + 0.004548499573478665, + 0.005489611226284774 + ], + "object_to_gripper_xy": 0.006020897183821128, + "object_to_gripper_z": 0.005489611226284774, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19181478938319788, + 0.12088595170923029, + 1.1617035967457192 + ], + "finger_b": [ + 0.18158424982145693, + 0.1444373556549425, + 1.1617035967457192 + ], + "finger_midpoint": [ + 0.1866995196023274, + 0.1326616536820864, + 1.1617035967457192 + ], + "object_minus_finger_midpoint": [ + 0.005115269780870485, + 0.0117757019728561, + 0.0 + ], + "finger_gap": 0.02567747198496097, + "fingertip_max_gap": 0.09077234620328711, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012838735992480484, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1617035967457192, + "object_top_z": 1.2116794171954877, + "finger_top_clearance": 0.04997582044976845, + "fingertip_min_top_clearance": 0.0149927461349305, + "object_projection_between_fingers": 0.8412577432431441, + "object_to_finger_line_xy": 0.009383461500503966, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04788617310164356, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3954795905092671, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 353, + "max_stable_success_frames": 353, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.31175760010725806, + -0.31880083218001026, + 0.8515395753742543 + ], + "target_position": [ + 0.3042363176658459, + -0.3197755163532965, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007584174233306439, + "xy_threshold": 0.08, + "gripper_dist": 0.18269792462995524, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395753742543, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0755045203970481, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08559455633855416, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15081943013666196, + "release_required_pad_clearance": 0.05279727816927708, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6416321537086145, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007475912570953369, + "max_z_decrease": 0.007475912570953369, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03519229555535197, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007475912570953369, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021153900879670267, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007475912570953369, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007475934982836476, + "max_button_displacement": 0.12, + "button_start": [ + 0.15993624925613403, + -0.37603697180747986, + 0.7768088579177856 + ], + "button_final": [ + 0.15993624925613403, + -0.37603697180747986, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16171953745400217, + -0.3759732391237247, + 0.8044790504129002 + ], + "closest_button": [ + 0.15991830825805664, + -0.3760406076908111, + 0.7693329453468323 + ], + "closest_ee_minus_button": [ + 0.001801229195945525, + 6.736856708638994e-05, + 0.03514610506606797 + ], + "button_min_z_position": [ + 0.15991830825805664, + -0.3760406076908111, + 0.7693329453468323 + ], + "min_active_finger_to_button": 0.14401247807600184, + "closest_active_finger": [ + 0.021205805242061615, + -0.35833540558815, + 0.8106208443641663 + ], + "closest_active_finger_button": [ + 0.1599389612674713, + -0.37603962421417236, + 0.776280403137207 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1387331560254097, + 0.01770421862602234, + 0.03434044122695923 + ], + "min_contact_pad_to_button": 0.021153900879670267, + "closest_contact_pad": [ + 0.15991830825805664, + -0.3772818210058595, + 0.7904504004949665 + ], + "closest_contact_pad_button": [ + 0.15991830825805664, + -0.3760406076908111, + 0.7693329453468323 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001241213315048395, + 0.021117455148134234 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 51, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f7c14397599269bb32d9c0ce99ac9be44eb29229f5dfda636cbcca7cd4fbddcf", + "visual_seed": 7043786412906639593, + "episode_index": 51, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_52_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_52_success.json new file mode 100644 index 0000000000000000000000000000000000000000..031610c3d739cc5b4a222b78973ddab1c9027496 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_52_success.json @@ -0,0 +1,700 @@ +{ + "episode": 52, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.1959443156145957, + 0.14986873570206116, + 1.1609332561106092 + ], + "current_z": 1.1609332561106092, + "required_z": 0.8611068656426344, + "initial_z": 0.7611068656426344, + "lift_margin": 0.29982639046797477, + "gripper_z": 1.1552057380707235, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1919219804815211, + 0.14527273173741925, + 1.1552057380707235 + ], + "object_minus_gripper": [ + 0.004022335133074595, + 0.004596003964641909, + 0.005727518039885693 + ], + "object_to_gripper_xy": 0.006107571724160951, + "object_to_gripper_z": 0.005727518039885693, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1959443156145957, + 0.12636578945294571, + 1.1609332561106092 + ], + "finger_b": [ + 0.18551511449174513, + 0.14986873570206116, + 1.1609332561106092 + ], + "finger_midpoint": [ + 0.1907297150531704, + 0.13811726257750345, + 1.1609332561106092 + ], + "object_minus_finger_midpoint": [ + 0.005214600561425281, + 0.01175147312455771, + 0.0 + ], + "finger_gap": 0.025712967904341136, + "fingertip_max_gap": 0.09078870943451395, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012856483952170554, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1609332561106092, + "object_top_z": 1.2108615580348392, + "finger_top_clearance": 0.049928301924230034, + "fingertip_min_top_clearance": 0.01497849057726901, + "object_projection_between_fingers": 0.8354879667321324, + "object_to_finger_line_xy": 0.009532814505251563, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047894354717256976, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.4214982814618464, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 356, + "max_stable_success_frames": 356, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3167533825105009, + -0.31528956783301465, + 0.8515395720985292 + ], + "target_position": [ + 0.30899276263500763, + -0.31651474367576565, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007856734480530803, + "xy_threshold": 0.08, + "gripper_dist": 0.18388943861152865, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395720985292, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07580764495723787, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08523151012877798, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1512931302112057, + "release_required_pad_clearance": 0.052615755064388994, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.2934196138084052, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007403314113616943, + "max_z_decrease": 0.007403314113616943, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03520711811927495, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007403314113616943, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021108672915076343, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007403314113616943, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007403338634082701, + "max_button_displacement": 0.12, + "button_start": [ + 0.16469268500804904, + -0.37277621030807495, + 0.7768088579177856 + ], + "button_final": [ + 0.16469268500804904, + -0.37277621030807495, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16618792739862723, + -0.3709571816158009, + 0.8082057806061614 + ], + "closest_button": [ + 0.1646878719329834, + -0.37278592586517334, + 0.773078203201294 + ], + "closest_ee_minus_button": [ + 0.0015000554656438292, + 0.0018287442493724604, + 0.035127577404867494 + ], + "button_min_z_position": [ + 0.16467402875423434, + -0.37278008460998535, + 0.7694055438041687 + ], + "min_active_finger_to_button": 0.14407203707921723, + "closest_active_finger": [ + 0.03903122991323471, + -0.43436670303344727, + 0.8106069564819336 + ], + "closest_active_finger_button": [ + 0.1646944135427475, + -0.37277933955192566, + 0.7763649821281433 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1256631836295128, + -0.061587363481521606, + 0.03424197435379028 + ], + "min_contact_pad_to_button": 0.021108672915076343, + "closest_contact_pad": [ + 0.16467402875423434, + -0.37278008460998535, + 0.790514216719245 + ], + "closest_contact_pad_button": [ + 0.16467402875423434, + -0.37278008460998535, + 0.7694055438041687 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021108672915076343 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 52, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0ab566a423402b17801c147f137527897a690c2d0f9931fcb979fbbcef6c9b54", + "visual_seed": 1936580144195974200, + "episode_index": 52, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_53_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_53_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9f57e4ec7f289f6f883a213de2a6b1879cd7125e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_53_success.json @@ -0,0 +1,700 @@ +{ + "episode": 53, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19133749866461627, + 0.14631282267907028, + 1.1610437063444743 + ], + "current_z": 1.1610437063444743, + "required_z": 0.8611068656426345, + "initial_z": 0.7611068656426345, + "lift_margin": 0.2999368407018398, + "gripper_z": 1.1553379278933409, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18739196623179954, + 0.14193578647296123, + 1.1553379278933409 + ], + "object_minus_gripper": [ + 0.0039455324328167285, + 0.004377036206109047, + 0.005705778451133403 + ], + "object_to_gripper_xy": 0.005892849236829174, + "object_to_gripper_z": 0.005705778451133403, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19133749866461627, + 0.12263207375532673, + 1.1610437063444743 + ], + "finger_b": [ + 0.18153394075800008, + 0.14631282267907028, + 1.1610437063444743 + ], + "finger_midpoint": [ + 0.18643571971130818, + 0.1344724482171985, + 1.1610437063444743 + ], + "object_minus_finger_midpoint": [ + 0.004901778953308095, + 0.011840374461871778, + 0.0 + ], + "finger_gap": 0.025629818907236906, + "fingertip_max_gap": 0.09026603227632762, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012814909453618453, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1610437063444743, + "object_top_z": 1.2108750129570274, + "finger_top_clearance": 0.04983130661255308, + "fingertip_min_top_clearance": 0.014949391983765924, + "object_projection_between_fingers": 0.8536892078504253, + "object_to_finger_line_xy": 0.009058027065513402, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047633016138163814, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.14636582693766567, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 355, + "max_stable_success_frames": 355, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.31551823565822457, + -0.31986122947391005, + 0.8515396081253017 + ], + "target_position": [ + 0.3072409493774763, + -0.32119645016139986, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008384287832473549, + "xy_threshold": 0.08, + "gripper_dist": 0.18625485652536863, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396081253017, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07532262298881477, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0856022598016034, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15472728673111702, + "release_required_pad_clearance": 0.0528011299008017, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6489098885075194, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0074422359466552734, + "max_z_decrease": 0.0074422359466552734, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035125591517590794, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0074422359466552734, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02113287861577286, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0074422359466552734, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00744225503822144, + "max_button_displacement": 0.12, + "button_start": [ + 0.16294087469577787, + -0.3774579167366027, + 0.7768088579177856 + ], + "button_final": [ + 0.16294087469577787, + -0.3774579167366027, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16248349722183264, + -0.3762545833069546, + 0.8078633437365403 + ], + "closest_button": [ + 0.16293145716190338, + -0.3774630427360534, + 0.7727614045143127 + ], + "closest_ee_minus_button": [ + -0.00044795994007074125, + 0.001208459429098807, + 0.035101939222227596 + ], + "button_min_z_position": [ + 0.16292457282543182, + -0.37746220827102656, + 0.7693666219711304 + ], + "min_active_finger_to_button": 0.1460744911460749, + "closest_active_finger": [ + 0.03409161418676376, + -0.43707704544067383, + 0.8106715679168701 + ], + "closest_active_finger_button": [ + 0.16294388473033905, + -0.37746042013168324, + 0.77631014585495 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1288522705435753, + -0.05961662530899059, + 0.034361422061920166 + ], + "min_contact_pad_to_button": 0.02113287861577286, + "closest_contact_pad": [ + 0.16292457282543182, + -0.3777532885332292, + 0.790497495849651 + ], + "closest_contact_pad_button": [ + 0.16292457282543182, + -0.37746220827102656, + 0.7693666219711304 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0002910802622026476, + 0.02113087387852064 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 53, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "be373efacc349e797a69d5e049cc4174e6847d9f3758f94f1c3ef56ddfc38535", + "visual_seed": 8018602083318873596, + "episode_index": 53, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_54_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_54_success.json new file mode 100644 index 0000000000000000000000000000000000000000..411a2dcff80be14520ee98dbb65da02af27fd813 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_54_success.json @@ -0,0 +1,700 @@ +{ + "episode": 54, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19291629937562602, + 0.15449941691114805, + 1.162106278126668 + ], + "current_z": 1.162106278126668, + "required_z": 0.8611066272240554, + "initial_z": 0.7611066272240554, + "lift_margin": 0.3009996509026126, + "gripper_z": 1.1562472944460094, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18913660880974745, + 0.1500496135827088, + 1.1562472944460094 + ], + "object_minus_gripper": [ + 0.0037796905658785684, + 0.00444980332843925, + 0.005858983680658625 + ], + "object_to_gripper_xy": 0.005838391082788175, + "object_to_gripper_z": 0.005858983680658625, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19291629937562602, + 0.13112548140583566, + 1.162106278126668 + ], + "finger_b": [ + 0.18275203544963403, + 0.15449941691114805, + 1.162106278126668 + ], + "finger_midpoint": [ + 0.18783416741263004, + 0.14281244915849184, + 1.162106278126668 + ], + "object_minus_finger_midpoint": [ + 0.005082131962995978, + 0.011686967752656208, + 0.0 + ], + "finger_gap": 0.025488293826063074, + "fingertip_max_gap": 0.0907856473528543, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012744146913031544, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.162106278126668, + "object_top_z": 1.2120143190026713, + "finger_top_clearance": 0.04990804087600331, + "fingertip_min_top_clearance": 0.014972412262800994, + "object_projection_between_fingers": 0.840973193797435, + "object_to_finger_line_xy": 0.009321096621311453, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04789282367642715, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.4565718924885263, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 357, + "max_stable_success_frames": 357, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3127094122705227, + -0.3193572622366383, + 0.8515395018531885 + ], + "target_position": [ + 0.30500618726882534, + -0.32038829813214953, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007771918067286074, + "xy_threshold": 0.08, + "gripper_dist": 0.1868232691968859, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395018531885, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07546483776071285, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08625527201420179, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15496976929432388, + "release_required_pad_clearance": 0.053127636007100895, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.2814382548231558, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007643342018127441, + "max_z_decrease": 0.007643342018127441, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03515198691168467, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007643342018127441, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02106292548199509, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007643342018127441, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007643360679939931, + "max_button_displacement": 0.12, + "button_start": [ + 0.16070611774921412, + -0.3766497671604156, + 0.7768088579177856 + ], + "button_final": [ + 0.16070611774921412, + -0.3766497671604156, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15976515310147804, + -0.37635213995690936, + 0.8079879644237896 + ], + "closest_button": [ + 0.16069565713405604, + -0.37665718793869013, + 0.7728496193885803 + ], + "closest_ee_minus_button": [ + -0.0009305040325779945, + 0.00030504798178077053, + 0.035138345035209295 + ], + "button_min_z_position": [ + 0.16068933904170984, + -0.37665170431137074, + 0.7691655158996582 + ], + "min_active_finger_to_button": 0.14678360797695328, + "closest_active_finger": [ + 0.033122338354587555, + -0.44071757793426514, + 0.8107603192329407 + ], + "closest_active_finger_button": [ + 0.16070765256881708, + -0.37665250897407526, + 0.7766563296318054 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12758531421422953, + -0.06406506896018987, + 0.034103989601135254 + ], + "min_contact_pad_to_button": 0.02106292548199509, + "closest_contact_pad": [ + 0.16068933904170984, + -0.3774249906906309, + 0.7902142417051726 + ], + "closest_contact_pad_button": [ + 0.16068933904170984, + -0.37665170431137074, + 0.7691655158996582 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.000773286379260163, + 0.021048725805514423 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 54, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3b7a9a7dfdf50b2f88eacdc7c7db2ffc3ace72066e22137719bffb16a58809ba", + "visual_seed": 8612091071594468918, + "episode_index": 54, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_55_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_55_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f86daeb660f898f400e43f94f53a669905e828f9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_55_success.json @@ -0,0 +1,700 @@ +{ + "episode": 55, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19093501214299688, + 0.1463844162030811, + 1.1607690865649198 + ], + "current_z": 1.1607690865649198, + "required_z": 0.8611066272240556, + "initial_z": 0.7611066272240556, + "lift_margin": 0.2996624593408642, + "gripper_z": 1.1550514326048484, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18716815952543425, + 0.14211222243650545, + 1.1550514326048484 + ], + "object_minus_gripper": [ + 0.003766852617562627, + 0.004272193766575644, + 0.0057176539600714005 + ], + "object_to_gripper_xy": 0.0056956841750228915, + "object_to_gripper_z": 0.0057176539600714005, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19093501214299688, + 0.12268918905887924, + 1.1607690865649198 + ], + "finger_b": [ + 0.18146289359722284, + 0.1463844162030811, + 1.1607690865649198 + ], + "finger_midpoint": [ + 0.18619895287010985, + 0.13453680263098017, + 1.1607690865649198 + ], + "object_minus_finger_midpoint": [ + 0.004736059272887033, + 0.011847613572100929, + 0.0 + ], + "finger_gap": 0.025518323204327457, + "fingertip_max_gap": 0.09065026628286052, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012759161602163734, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1607690865649198, + "object_top_z": 1.2107001445429855, + "finger_top_clearance": 0.04993105797806563, + "fingertip_min_top_clearance": 0.014979317393419688, + "object_projection_between_fingers": 0.8622187939502928, + "object_to_finger_line_xy": 0.008795405508496001, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04782513314143026, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.31735620801503256, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 355, + "max_stable_success_frames": 355, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.319720421171689, + -0.3205554854098943, + 0.8515395438092115 + ], + "target_position": [ + 0.31239041803875417, + -0.32168140346607743, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0074159717770547915, + "xy_threshold": 0.08, + "gripper_dist": 0.18507101440374174, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395438092115, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07558808485567622, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08559590447741132, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15286095719490955, + "release_required_pad_clearance": 0.05279795223870566, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6428508290482934, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007764160633087158, + "max_z_decrease": 0.007764160633087158, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035145737815391744, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007764160633087158, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021153924960123045, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007764160633087158, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007764180093036564, + "max_button_displacement": 0.12, + "button_start": [ + 0.16809034347534182, + -0.3779428601264953, + 0.7768088579177856 + ], + "button_final": [ + 0.16809034347534182, + -0.3779428601264953, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16757999608926258, + -0.3790525839645491, + 0.8079463090017064 + ], + "closest_button": [ + 0.16808182001113894, + -0.37795281410217285, + 0.7728213667869568 + ], + "closest_ee_minus_button": [ + -0.0005018239218763654, + -0.0010997698623762542, + 0.0351249422147496 + ], + "button_min_z_position": [ + 0.16807319223880773, + -0.3779456913471222, + 0.7690446972846985 + ], + "min_active_finger_to_button": 0.14655332823300352, + "closest_active_finger": [ + 0.0262034609913826, + -0.36477404832839966, + 0.8103137016296387 + ], + "closest_active_finger_button": [ + 0.16808983683586123, + -0.3779476583003997, + 0.7760705947875977 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14188637584447863, + 0.013173609972000067, + 0.034243106842041016 + ], + "min_contact_pad_to_button": 0.021153924960123045, + "closest_contact_pad": [ + 0.16807319223880773, + -0.3800925399818647, + 0.7900894016579612 + ], + "closest_contact_pad_button": [ + 0.16807319223880773, + -0.3779456913471222, + 0.7690446972846985 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0021468486347425153, + 0.021044704373262668 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 55, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3bec02b411c7505394d717fe1ba6bf48d8f07ef214a90848944509516ffbd2f0", + "visual_seed": 2824171325100948014, + "episode_index": 55, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_56_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_56_success.json new file mode 100644 index 0000000000000000000000000000000000000000..38137cae8243cd9709929e055d739fb56c6c44f4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_56_success.json @@ -0,0 +1,700 @@ +{ + "episode": 56, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.1962506485779626, + 0.1497175565709075, + 1.1611925967274392 + ], + "current_z": 1.1611925967274392, + "required_z": 0.8611068656426348, + "initial_z": 0.7611068656426349, + "lift_margin": 0.3000857310848044, + "gripper_z": 1.155428399234716, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1922828950583836, + 0.14514723967440368, + 1.155428399234716 + ], + "object_minus_gripper": [ + 0.0039677535195789815, + 0.004570316896503807, + 0.0057641974927231665 + ], + "object_to_gripper_xy": 0.006052343721782462, + "object_to_gripper_z": 0.0057641974927231665, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1962506485779626, + 0.1262037368194254, + 1.1611925967274392 + ], + "finger_b": [ + 0.18592498584840705, + 0.1497175565709075, + 1.1611925967274392 + ], + "finger_midpoint": [ + 0.19108781721318482, + 0.13796064669516644, + 1.1611925967274392 + ], + "object_minus_finger_midpoint": [ + 0.00516283136477777, + 0.011756909875741045, + 0.0 + ], + "finger_gap": 0.025681102587500435, + "fingertip_max_gap": 0.0907714896669582, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012840551293750217, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1611925967274392, + "object_top_z": 1.2111136863098235, + "finger_top_clearance": 0.04992108958238428, + "fingertip_min_top_clearance": 0.014976326874715284, + "object_projection_between_fingers": 0.8383377795985743, + "object_to_finger_line_xy": 0.00945425810321475, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0478857448334791, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3986510194987201, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 352, + "max_stable_success_frames": 352, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.31864463808489707, + -0.3162819927777861, + 0.8515395600969219 + ], + "target_position": [ + 0.3105572867370875, + -0.3175709755959951, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008189427851111177, + "xy_threshold": 0.08, + "gripper_dist": 0.18525864251553567, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395600969219, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07545508097458693, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08610126296232577, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15334954187324948, + "release_required_pad_clearance": 0.05305063148116289, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.131582165964605, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007593691349029541, + "max_z_decrease": 0.007593691349029541, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035192939028093166, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007593691349029541, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021172517005886644, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007593691349029541, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007593711472254906, + "max_button_displacement": 0.12, + "button_start": [ + 0.1662572175264358, + -0.3738324344158172, + 0.7768088579177856 + ], + "button_final": [ + 0.1662572175264358, + -0.3738324344158172, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16821272600456433, + -0.37454345261642236, + 0.8080756187723327 + ], + "closest_button": [ + 0.16625347733497614, + -0.373841494321823, + 0.7729442715644836 + ], + "closest_ee_minus_button": [ + 0.0019592486695881872, + -0.0007019582945993474, + 0.03513134720784905 + ], + "button_min_z_position": [ + 0.16624005138874048, + -0.37383574247360224, + 0.7692151665687561 + ], + "min_active_finger_to_button": 0.14422412090250983, + "closest_active_finger": [ + 0.026838980615139008, + -0.3601444959640503, + 0.8104976415634155 + ], + "closest_active_finger_button": [ + 0.16625933349132532, + -0.3738353550434112, + 0.7762175798416138 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13942035287618632, + 0.013690859079360906, + 0.03428006172180176 + ], + "min_contact_pad_to_button": 0.021172517005886644, + "closest_contact_pad": [ + 0.16624005138874048, + -0.3756246026606915, + 0.7903119780718152 + ], + "closest_contact_pad_button": [ + 0.16624005138874048, + -0.37383574247360224, + 0.7692151665687561 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0017888601870892362, + 0.021096811503059087 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 56, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "090b1cec7958393a35841b1180408d637db2371d60636d2545dc5813dcfea0c3", + "visual_seed": 9004644473650039064, + "episode_index": 56, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_57_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_57_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b59553463b1e72eda16586d6934f3edda8345a8f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_57_success.json @@ -0,0 +1,700 @@ +{ + "episode": 57, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19445258271129837, + 0.15245543564283387, + 1.1594449431962306 + ], + "current_z": 1.1594449431962306, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 0.29833837557681975, + "gripper_z": 1.1536806290184656, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1906120390163276, + 0.14806708651602762, + 1.1536806290184656 + ], + "object_minus_gripper": [ + 0.003840543694970777, + 0.004388349126806246, + 0.0057643141777650175 + ], + "object_to_gripper_xy": 0.0058315850273935755, + "object_to_gripper_z": 0.0057643141777650175, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19445258271129837, + 0.12881093530807625, + 1.1594449431962306 + ], + "finger_b": [ + 0.18467763382779875, + 0.15245543564283387, + 1.1594449431962306 + ], + "finger_midpoint": [ + 0.18956510826954856, + 0.14063318547545506, + 1.1594449431962306 + ], + "object_minus_finger_midpoint": [ + 0.004887474441749806, + 0.011822250167378812, + 0.0 + ], + "finger_gap": 0.025585386879142236, + "fingertip_max_gap": 0.09064826589290084, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012792693439571118, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1594449431962306, + "object_top_z": 1.2093536504830582, + "finger_top_clearance": 0.049908707286827614, + "fingertip_min_top_clearance": 0.014972612186048284, + "object_projection_between_fingers": 0.8540362497181033, + "object_to_finger_line_xy": 0.00903342924771493, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04782413294645042, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.2970920219581396, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 351, + "max_stable_success_frames": 351, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.31550909761889534, + -0.3200033506888552, + 0.8515395710436563 + ], + "target_position": [ + 0.3078339207184091, + -0.3210809581167713, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007750456646060125, + "xy_threshold": 0.08, + "gripper_dist": 0.1857312860322849, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395710436563, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07545494149694593, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08537014278131248, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15391433016435435, + "release_required_pad_clearance": 0.05268507139065624, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4261249101740662, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007560908794403076, + "max_z_decrease": 0.007560908794403076, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035201827130351894, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007560908794403076, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02109881633044869, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007560908794403076, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007560927416279682, + "max_button_displacement": 0.12, + "button_start": [ + 0.16353385150432584, + -0.377342402935028, + 0.7768088579177856 + ], + "button_final": [ + 0.16353385150432584, + -0.377342402935028, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16558189097918777, + -0.37687408716946175, + 0.808119495550184 + ], + "closest_button": [ + 0.16352720558643336, + -0.3773515820503235, + 0.7729809284210205 + ], + "closest_ee_minus_button": [ + 0.002054685392754413, + 0.00047749488086173963, + 0.03513856712916352 + ], + "button_min_z_position": [ + 0.1635173112154007, + -0.3773452341556549, + 0.7692479491233826 + ], + "min_active_finger_to_button": 0.14415511789342575, + "closest_active_finger": [ + 0.03889591991901398, + -0.4412047266960144, + 0.8104232549667358 + ], + "closest_active_finger_button": [ + 0.16353578865528104, + -0.3773452043533325, + 0.7762536406517029 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12463986873626706, + -0.06385952234268188, + 0.03416961431503296 + ], + "min_contact_pad_to_button": 0.02109881633044869, + "closest_contact_pad": [ + 0.1635173112154007, + -0.3779562718334124, + 0.7903379155411455 + ], + "closest_contact_pad_button": [ + 0.1635173112154007, + -0.3773452341556549, + 0.7692479491233826 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0006110376777574977, + 0.02108996641776295 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 57, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "22defbc24a50ee77bb9b06fd21175385c32df19d56f932bb106888351cdfd1f0", + "visual_seed": 3966827484385105690, + "episode_index": 57, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_58_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_58_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a0657bcfe5f591052c814ed8b3e6c4510ce5d772 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_58_success.json @@ -0,0 +1,700 @@ +{ + "episode": 58, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.1974670406296868, + 0.14518075374090142, + 1.1620777684524635 + ], + "current_z": 1.1620777684524635, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.30097137964698706, + "gripper_z": 1.156182817882214, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1935678356117955, + 0.1407962309615003, + 1.156182817882214 + ], + "object_minus_gripper": [ + 0.0038992050178913162, + 0.004384522779401129, + 0.005894950570249469 + ], + "object_to_gripper_xy": 0.005867524160549849, + "object_to_gripper_z": 0.005894950570249469, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1974670406296868, + 0.12144557389019078, + 1.1620777684524635 + ], + "finger_b": [ + 0.18775586502219943, + 0.14518075374090142, + 1.1620777684524635 + ], + "finger_midpoint": [ + 0.1926114528259431, + 0.1333131638155461, + 1.1620777684524635 + ], + "object_minus_finger_midpoint": [ + 0.004855587803743705, + 0.011867589925355332, + 0.0 + ], + "finger_gap": 0.025644993550887046, + "fingertip_max_gap": 0.09067839021199606, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01282249677544354, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1620777684524635, + "object_top_z": 1.2120706828676377, + "finger_top_clearance": 0.04999291441517428, + "fingertip_min_top_clearance": 0.014997874324552284, + "object_projection_between_fingers": 0.8566035411188891, + "object_to_finger_line_xy": 0.008987972609475446, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04783919510599803, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3515904904684443, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 359, + "max_stable_success_frames": 359, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3121262829826281, + -0.3230528206326134, + 0.8515395951477694 + ], + "target_position": [ + 0.30412989998111906, + -0.32435684949105753, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008102014093450972, + "xy_threshold": 0.08, + "gripper_dist": 0.18458759406293182, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395951477694, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754439681463162, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0855792845715511, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15278736481077676, + "release_required_pad_clearance": 0.052789642285775554, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6268232190293389, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007599294185638428, + "max_z_decrease": 0.007599294185638428, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035229136860623865, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007599294185638428, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021128874301729755, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007599294185638428, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0075993171171257895, + "max_button_displacement": 0.12, + "button_start": [ + 0.15982982516288757, + -0.3806183040142059, + 0.7768088579177856 + ], + "button_final": [ + 0.15982982516288757, + -0.3806183040142059, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16225740487199722, + -0.38098947631500507, + 0.8081063890912656 + ], + "closest_button": [ + 0.15982203185558314, + -0.3806265890598296, + 0.7729634046554565 + ], + "closest_ee_minus_button": [ + 0.002435373016414083, + -0.00036288725517547027, + 0.0351429844358091 + ], + "button_min_z_position": [ + 0.15981127321720123, + -0.380620390176773, + 0.7692095637321472 + ], + "min_active_finger_to_button": 0.1437716714458504, + "closest_active_finger": [ + 0.020949125289916992, + -0.366062194108963, + 0.8104374408721924 + ], + "closest_active_finger_button": [ + 0.15983100235462186, + -0.3806208670139312, + 0.7762297987937927 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13888187706470487, + 0.014558672904968206, + 0.03420764207839966 + ], + "min_contact_pad_to_button": 0.021128874301729755, + "closest_contact_pad": [ + 0.15981127321720123, + -0.38208454499317096, + 0.7902876466604383 + ], + "closest_contact_pad_button": [ + 0.15981127321720123, + -0.380620390176773, + 0.7692095637321472 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0014641548163979445, + 0.021078082928291053 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 58, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f5f7627493298a32cb1ad900c2b3f79083c67ab10dca03e268468a2f5ba2010c", + "visual_seed": 1944617035574336311, + "episode_index": 58, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_59_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_59_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bb49d77d3a92eb165b4947cbf18d5c869aa64fe7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_59_success.json @@ -0,0 +1,700 @@ +{ + "episode": 59, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19478275705971315, + 0.14803925314916483, + 1.1609339759000141 + ], + "current_z": 1.1609339759000141, + "required_z": 0.8611067464333448, + "initial_z": 0.7611067464333449, + "lift_margin": 0.2998272294666693, + "gripper_z": 1.1552269355381908, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19075581958974708, + 0.14354451843869104, + 1.1552269355381908 + ], + "object_minus_gripper": [ + 0.004026937469966074, + 0.004494734710473791, + 0.005707040361823346 + ], + "object_to_gripper_xy": 0.0060348045125384695, + "object_to_gripper_z": 0.005707040361823346, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19478275705971315, + 0.12447997759400094, + 1.1609339759000141 + ], + "finger_b": [ + 0.18457620776279166, + 0.14803925314916483, + 1.1609339759000141 + ], + "finger_midpoint": [ + 0.1896794824112524, + 0.13625961537158288, + 1.1609339759000141 + ], + "object_minus_finger_midpoint": [ + 0.005103274648460748, + 0.011779637777581953, + 0.0 + ], + "finger_gap": 0.025675145826939944, + "fingertip_max_gap": 0.09040483083403172, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012837572913469979, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1609339759000141, + "object_top_z": 1.2107671430869162, + "finger_top_clearance": 0.049833167186902116, + "fingertip_min_top_clearance": 0.014949950156070634, + "object_projection_between_fingers": 0.8419727301246652, + "object_to_finger_line_xy": 0.009365434921940476, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047702415417015864, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.24672821163011766, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 352, + "max_stable_success_frames": 352, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3157735962684922, + -0.32287148299146096, + 0.851539564555415 + ], + "target_position": [ + 0.3070036722562309, + -0.3245366291966028, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008926605125429064, + "xy_threshold": 0.08, + "gripper_dist": 0.18469813033623922, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539564555415, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07546383634463026, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08563153377139636, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1528794347252024, + "release_required_pad_clearance": 0.05281576688569818, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6772392500003461, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007677912712097168, + "max_z_decrease": 0.007677912712097168, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03510867056130176, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007677912712097168, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021179704053130285, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007677912712097168, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007677936975016774, + "max_button_displacement": 0.12, + "button_start": [ + 0.1627036035060882, + -0.3807981014251709, + 0.7768088579177856 + ], + "button_final": [ + 0.1627036035060882, + -0.3807981014251709, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1626661700692056, + -0.3811140072097424, + 0.8077181922070312 + ], + "closest_button": [ + 0.16269381344318384, + -0.38080382347106934, + 0.7726109027862549 + ], + "closest_ee_minus_button": [ + -2.7643373978231134e-05, + -0.0003101837386730866, + 0.035107289420776344 + ], + "button_min_z_position": [ + 0.16268466413021082, + -0.3808018267154693, + 0.7691309452056885 + ], + "min_active_finger_to_button": 0.14618544537530473, + "closest_active_finger": [ + 0.021745063364505768, + -0.3629758358001709, + 0.8104571104049683 + ], + "closest_active_finger_button": [ + 0.1627060174942016, + -0.3808022737503051, + 0.7760708928108215 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14096095412969584, + 0.017826437950134222, + 0.03438621759414673 + ], + "min_contact_pad_to_button": 0.021179704053130285, + "closest_contact_pad": [ + 0.16268466413021082, + -0.38255112180816675, + 0.7902382858827337 + ], + "closest_contact_pad_button": [ + 0.16268466413021082, + -0.3808018267154693, + 0.7691309452056885 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0017492950926974449, + 0.021107340677045228 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 59, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d07c304bdfe1139b6f7732d5e6191bc2ee448d927475ddd5fbed105383b53397", + "visual_seed": 8401897178305398696, + "episode_index": 59, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_5_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_5_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7a90991b512a2ac7863f5aa9e65d30c65ae65da7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_5_success.json @@ -0,0 +1,700 @@ +{ + "episode": 5, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19243437119945458, + 0.1471542273218514, + 1.1631380204585156 + ], + "current_z": 1.1631380204585156, + "required_z": 0.8611068060379897, + "initial_z": 0.7611068060379897, + "lift_margin": 0.30203121442052583, + "gripper_z": 1.1573551795115562, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1885444044983387, + 0.14279154914714678, + 1.1573551795115562 + ], + "object_minus_gripper": [ + 0.0038899667011158823, + 0.004362678174704621, + 0.005782840946959356 + ], + "object_to_gripper_xy": 0.0058450664488810065, + "object_to_gripper_z": 0.005782840946959356, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19243437119945458, + 0.12346438209141856, + 1.1631380204585156 + ], + "finger_b": [ + 0.18270633371911038, + 0.1471542273218514, + 1.1631380204585156 + ], + "finger_midpoint": [ + 0.1875703524592825, + 0.135309304706635, + 1.1631380204585156 + ], + "object_minus_finger_midpoint": [ + 0.004864018740172088, + 0.011844922615216413, + 0.0 + ], + "finger_gap": 0.025609441232889937, + "fingertip_max_gap": 0.09078285001245728, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012804720616444956, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1631380204585156, + "object_top_z": 1.2131991381493423, + "finger_top_clearance": 0.05006111769082677, + "fingertip_min_top_clearance": 0.015018335307248032, + "object_projection_between_fingers": 0.8557053381374725, + "object_to_finger_line_xy": 0.008998857109355142, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047891425006228644, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.03927151118224785, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 360, + "max_stable_success_frames": 360, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.31155657527687286, + -0.32293097838172335, + 0.8515395606232128 + ], + "target_position": [ + 0.3030946651358055, + -0.32435677797283147, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008581190343390733, + "xy_threshold": 0.08, + "gripper_dist": 0.1842748311816813, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395606232128, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07518212250671473, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08539077105532343, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15334669401248355, + "release_required_pad_clearance": 0.05269538552766172, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.44587160117558655, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007527828216552734, + "max_z_decrease": 0.007527828216552734, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035166213110437244, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007527828216552734, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021127541791405212, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007527828216552734, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007527849029551196, + "max_button_displacement": 0.12, + "button_start": [ + 0.1587945967912674, + -0.38061824440956116, + 0.7768088579177856 + ], + "button_final": [ + 0.1587945967912674, + -0.38061824440956116, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16024137889793597, + -0.3807058712394375, + 0.808109988047186 + ], + "closest_button": [ + 0.15878687798976895, + -0.3806275725364685, + 0.7729739546775818 + ], + "closest_ee_minus_button": [ + 0.0014545009081670113, + -7.8298702968993e-05, + 0.03513603336960425 + ], + "button_min_z_position": [ + 0.15877713263034818, + -0.38062113523483276, + 0.7692810297012329 + ], + "min_active_finger_to_button": 0.14475448890528983, + "closest_active_finger": [ + 0.019099831581115723, + -0.36428114771842957, + 0.8104662895202637 + ], + "closest_active_finger_button": [ + 0.1587962061166763, + -0.3806208670139313, + 0.7762347459793091 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13969637453556058, + 0.01633971929550171, + 0.03423154354095459 + ], + "min_contact_pad_to_button": 0.021127541791405212, + "closest_contact_pad": [ + 0.15877713263034818, + -0.3819525517811399, + 0.7903665781201807 + ], + "closest_contact_pad_button": [ + 0.15877713263034818, + -0.38062113523483276, + 0.7692810297012329 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0013314165463071403, + 0.02108554841894783 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 5, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a9789d073e2f36a79d1a12322310a2b04622d10e2d98daef3d875124591ba575", + "visual_seed": 7611430374644354225, + "episode_index": 5, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_60_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_60_success.json new file mode 100644 index 0000000000000000000000000000000000000000..882ca03f0ab0e81aa39aaee425fae11737e85a04 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_60_success.json @@ -0,0 +1,700 @@ +{ + "episode": 60, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.1959144306490028, + 0.14648515190560935, + 1.160574012293103 + ], + "current_z": 1.160574012293103, + "required_z": 0.8611067464333448, + "initial_z": 0.7611067464333449, + "lift_margin": 0.29946726585975814, + "gripper_z": 1.1545776534914136, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19207064008869945, + 0.14205586294821806, + 1.1545776534914136 + ], + "object_minus_gripper": [ + 0.003843790560303345, + 0.004429288957391281, + 0.005996358801689361 + ], + "object_to_gripper_xy": 0.005864582384070109, + "object_to_gripper_z": 0.005996358801689361, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1959144306490028, + 0.12286996633258415, + 1.160574012293103 + ], + "finger_b": [ + 0.18602885997737456, + 0.14648515190560935, + 1.160574012293103 + ], + "finger_midpoint": [ + 0.19097164531318866, + 0.13467755911909673, + 1.160574012293103 + ], + "object_minus_finger_midpoint": [ + 0.004942785335814132, + 0.01180759278651261, + 0.0 + ], + "finger_gap": 0.025600810478423795, + "fingertip_max_gap": 0.090697222670335, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012800405239211915, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.160574012293103, + "object_top_z": 1.2105017300495877, + "finger_top_clearance": 0.049927717756484746, + "fingertip_min_top_clearance": 0.014978315326945456, + "object_projection_between_fingers": 0.8508936767334446, + "object_to_finger_line_xy": 0.009118835753364357, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047848611335167504, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.33411389742784825, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 359, + "max_stable_success_frames": 359, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3119643408104762, + -0.3221902679546817, + 0.8515395029583198 + ], + "target_position": [ + 0.30383449747769403, + -0.3236289520351203, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008256159185655887, + "xy_threshold": 0.08, + "gripper_dist": 0.1829773815786901, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395029583198, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07555253535367362, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08566551342179045, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.151105650491438, + "release_required_pad_clearance": 0.052832756710895226, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7099639683534662, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007361710071563721, + "max_z_decrease": 0.007361710071563721, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0351864477457585, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007361710071563721, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021082567885226333, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007361710071563721, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0073617288114460845, + "max_button_displacement": 0.12, + "button_start": [ + 0.15953442454338074, + -0.37989041209220886, + 0.7768088579177856 + ], + "button_final": [ + 0.15953442454338074, + -0.37989041209220886, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15840850649599905, + -0.3782732568184476, + 0.8082373696622949 + ], + "closest_button": [ + 0.15952552855014804, + -0.3798982203006744, + 0.7731062173843384 + ], + "closest_ee_minus_button": [ + -0.0011170220541489861, + 0.0016249634822267933, + 0.03513115227795649 + ], + "button_min_z_position": [ + 0.1595180779695511, + -0.37989336252212524, + 0.7694471478462219 + ], + "min_active_finger_to_button": 0.14644347376196903, + "closest_active_finger": [ + 0.030466720461845398, + -0.44005411863327026, + 0.8105530142784119 + ], + "closest_active_finger_button": [ + 0.15953512489795685, + -0.37989336252212524, + 0.7763810753822327 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12906840443611145, + -0.06016075611114502, + 0.0341719388961792 + ], + "min_contact_pad_to_button": 0.021082567885226333, + "closest_contact_pad": [ + 0.1595180779695511, + -0.37989336252212524, + 0.7905297157314483 + ], + "closest_contact_pad_button": [ + 0.1595180779695511, + -0.37989336252212524, + 0.7694471478462219 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021082567885226333 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 60, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "936ad8d092dd544b64f89a5e5abc3936cc4b44535834f656602c250a46b494b0", + "visual_seed": 6440311272277331898, + "episode_index": 60, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_61_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_61_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c2e2b332acd04ea1a235762ead043588bc725af2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_61_success.json @@ -0,0 +1,700 @@ +{ + "episode": 61, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19397891223498326, + 0.14794193045644896, + 1.1625291734198906 + ], + "current_z": 1.1625291734198906, + "required_z": 0.8611067464333452, + "initial_z": 0.7611067464333452, + "lift_margin": 0.3014224269865454, + "gripper_z": 1.1567921094587572, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19010943915385345, + 0.14359525050073768, + 1.1567921094587572 + ], + "object_minus_gripper": [ + 0.0038694730811298095, + 0.00434667995571128, + 0.005737063961133382 + ], + "object_to_gripper_xy": 0.005819488685698292, + "object_to_gripper_z": 0.005737063961133382, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19397891223498326, + 0.1242083475974462, + 1.1625291734198906 + ], + "finger_b": [ + 0.1843537411346442, + 0.14794193045644896, + 1.1625291734198906 + ], + "finger_midpoint": [ + 0.18916632668481373, + 0.13607513902694757, + 1.1625291734198906 + ], + "object_minus_finger_midpoint": [ + 0.004812585550169529, + 0.011866791429501394, + 0.0 + ], + "finger_gap": 0.02561106936533404, + "fingertip_max_gap": 0.09045633314175228, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012805534682667034, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1625291734198906, + "object_top_z": 1.2124545721960316, + "finger_top_clearance": 0.049925398776140995, + "fingertip_min_top_clearance": 0.014977619632842297, + "object_projection_between_fingers": 0.8587587696464403, + "object_to_finger_line_xy": 0.00891957272784483, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04772816657087614, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.16221994869369885, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 356, + "max_stable_success_frames": 356, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3125815692330982, + -0.32319166056049287, + 0.8515395626988317 + ], + "target_position": [ + 0.30381417931871, + -0.32465180908740154, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00888814714277106, + "xy_threshold": 0.08, + "gripper_dist": 0.18397524765626433, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395626988317, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07526489332534136, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08504133061661732, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15279852829296486, + "release_required_pad_clearance": 0.052520665308308664, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.11190582229703018, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007673501968383789, + "max_z_decrease": 0.007673501968383789, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0351698838187378, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007673501968383789, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021052618159413505, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007673501968383789, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007673529974867797, + "max_button_displacement": 0.12, + "button_start": [ + 0.15951409935951238, + -0.38091325759887695, + 0.7768088579177856 + ], + "button_final": [ + 0.15951409935951238, + -0.38091325759887695, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1586277435005839, + -0.37973056494566754, + 0.8078918221935397 + ], + "closest_button": [ + 0.15950262546539312, + -0.3809198141098023, + 0.7727529406547546 + ], + "closest_ee_minus_button": [ + -0.0008748819648092265, + 0.0011892491641347647, + 0.03513888153878508 + ], + "button_min_z_position": [ + 0.15949340164661413, + -0.3809144496917725, + 0.7691353559494019 + ], + "min_active_finger_to_button": 0.1463380480710117, + "closest_active_finger": [ + 0.0323653370141983, + -0.4448292553424835, + 0.8106397986412048 + ], + "closest_active_finger_button": [ + 0.1595142930746079, + -0.38091519474983215, + 0.7765375971794128 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1271489560604096, + -0.06391406059265137, + 0.03410220146179199 + ], + "min_contact_pad_to_button": 0.021052618159413505, + "closest_contact_pad": [ + 0.15949340164661413, + -0.3809144496917725, + 0.7901879741088154 + ], + "closest_contact_pad_button": [ + 0.15949340164661413, + -0.3809144496917725, + 0.7691353559494019 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021052618159413505 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 61, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3fe24baaf65a5080bda0444c29aa13c0e9bc1d40e7bbb7f8781fe6bef62ac3ed", + "visual_seed": 649743807639241706, + "episode_index": 61, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_62_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_62_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a20f9669aa51046d02f2d0d2104f028d671ee4f0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_62_success.json @@ -0,0 +1,700 @@ +{ + "episode": 62, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19144092436910992, + 0.15006082051051992, + 1.161030626193884 + ], + "current_z": 1.161030626193884, + "required_z": 0.8611066272240555, + "initial_z": 0.7611066272240555, + "lift_margin": 0.2999239989698286, + "gripper_z": 1.1549994557203227, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18761788546650837, + 0.14573358881528267, + 1.1549994557203227 + ], + "object_minus_gripper": [ + 0.00382303890260155, + 0.004327231695237244, + 0.006031170473561387 + ], + "object_to_gripper_xy": 0.005774128557199836, + "object_to_gripper_z": 0.006031170473561387, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19144092436910992, + 0.1264078750132169, + 1.161030626193884 + ], + "finger_b": [ + 0.18178101192324472, + 0.15006082051051992, + 1.161030626193884 + ], + "finger_midpoint": [ + 0.18661096814617734, + 0.1382343477618684, + 1.161030626193884 + ], + "object_minus_finger_midpoint": [ + 0.004829956222932585, + 0.011826472748651506, + 0.0 + ], + "finger_gap": 0.0255494762991371, + "fingertip_max_gap": 0.09090657042896921, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012774738149568544, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.161030626193884, + "object_top_z": 1.2110604945313261, + "finger_top_clearance": 0.05002986833744205, + "fingertip_min_top_clearance": 0.015008960501232614, + "object_projection_between_fingers": 0.8570505874163846, + "object_to_finger_line_xy": 0.008942859725014624, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04795328521448461, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.23679865870389843, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 357, + "max_stable_success_frames": 357, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3113902956326138, + -0.3228601015110816, + 0.8515395068403627 + ], + "target_position": [ + 0.30298507432792976, + -0.32425045243516715, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008519437826102125, + "xy_threshold": 0.08, + "gripper_dist": 0.1858947471904377, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395068403627, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07550890534271167, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0858565211403715, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.153993753879352, + "release_required_pad_clearance": 0.05292826057018575, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8943741334136521, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0074849724769592285, + "max_z_decrease": 0.0074849724769592285, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03514364271421578, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0074849724769592285, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02111089381202883, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.0074849724769592285, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007484993181472107, + "max_button_displacement": 0.12, + "button_start": [ + 0.1586849987506866, + -0.38051190972328175, + 0.7768088579177856 + ], + "button_final": [ + 0.1586849987506866, + -0.38051190972328175, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1592062452471782, + -0.37952436011156016, + 0.8081312444617381 + ], + "closest_button": [ + 0.15868121385574335, + -0.380521148443222, + 0.7730056643486023 + ], + "closest_ee_minus_button": [ + 0.0005250313914348381, + 0.0009967883316618353, + 0.035125580113135824 + ], + "button_min_z_position": [ + 0.1586677730083465, + -0.38051554560661305, + 0.7693238854408264 + ], + "min_active_finger_to_button": 0.14529048146262014, + "closest_active_finger": [ + 0.030870720744132996, + -0.44051116704940796, + 0.810519814491272 + ], + "closest_active_finger_button": [ + 0.15868754684925074, + -0.38051456212997425, + 0.776276707649231 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12781682610511774, + -0.059996604919433705, + 0.034243106842041016 + ], + "min_contact_pad_to_button": 0.02111089381202883, + "closest_contact_pad": [ + 0.1586677730083465, + -0.38098502740009843, + 0.790429558241956 + ], + "closest_contact_pad_button": [ + 0.1586677730083465, + -0.38051554560661305, + 0.7693238854408264 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0004694817934853823, + 0.021105672801129627 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 62, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c5c7acf18c92c6e7387c53a05e87c7c1747bec4651f5b4a8a35da6e9bec3e29d", + "visual_seed": 4250191094938024086, + "episode_index": 62, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_63_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_63_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e63616b63185a73d775e5deab3591e21086bb5fb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_63_success.json @@ -0,0 +1,700 @@ +{ + "episode": 63, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19706167463850807, + 0.14781271712968885, + 1.1621900821513256 + ], + "current_z": 1.1621900821513256, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.30108363374120417, + "gripper_z": 1.156222111051251, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1932999611492845, + 0.14355964277224104, + 1.156222111051251 + ], + "object_minus_gripper": [ + 0.003761713489223578, + 0.004253074357447817, + 0.005967971100074632 + ], + "object_to_gripper_xy": 0.005677951203117792, + "object_to_gripper_z": 0.005967971100074632, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19706167463850807, + 0.12408077858652827, + 1.1621900821513256 + ], + "finger_b": [ + 0.1876712964285638, + 0.14781271712968885, + 1.1621900821513256 + ], + "finger_midpoint": [ + 0.19236648553353594, + 0.13594674785810856, + 1.1621900821513256 + ], + "object_minus_finger_midpoint": [ + 0.004695189104972131, + 0.01186596927158029, + 0.0 + ], + "finger_gap": 0.025522227762132105, + "fingertip_max_gap": 0.0906097125412732, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012761113881066053, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1621900821513256, + "object_top_z": 1.212132692220922, + "finger_top_clearance": 0.04994261006959633, + "fingertip_min_top_clearance": 0.01498278302087893, + "object_projection_between_fingers": 0.8646279490397336, + "object_to_finger_line_xy": 0.008731678153349982, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0478048562706366, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.30988634557952843, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 360, + "max_stable_success_frames": 360, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3155527645777857, + -0.319232881725813, + 0.8515394963371187 + ], + "target_position": [ + 0.30766669520554574, + -0.32051372166054015, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007989408055805697, + "xy_threshold": 0.08, + "gripper_dist": 0.18342163296690425, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515394963371187, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07534808940692372, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08539261894978455, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15204055476526446, + "release_required_pad_clearance": 0.052696309474892275, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4476235605516902, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0074160099029541016, + "max_z_decrease": 0.0074160099029541016, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035194264816145404, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0074160099029541016, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02109306386292953, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0074160099029541016, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007416029844712855, + "max_button_displacement": 0.12, + "button_start": [ + 0.16336661577224726, + -0.37677517533302307, + 0.7768088579177856 + ], + "button_final": [ + 0.16336661577224726, + -0.37677517533302307, + 0.7768088579177856 + ], + "closest_ee": [ + 0.163824228418501, + -0.37476660922706057, + 0.8082392739874049 + ], + "closest_button": [ + 0.16335886716842646, + -0.3767843544483185, + 0.7731059789657593 + ], + "closest_ee_minus_button": [ + 0.0004653612500745419, + 0.002017745221257916, + 0.03513329502164564 + ], + "button_min_z_position": [ + 0.16334976255893702, + -0.37677860260009766, + 0.7693928480148315 + ], + "min_active_finger_to_button": 0.14487605741001744, + "closest_active_finger": [ + 0.036665767431259155, + -0.43815281987190247, + 0.810580849647522 + ], + "closest_active_finger_button": [ + 0.16336776316165919, + -0.376778244972229, + 0.7763925790786743 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12670199573040003, + -0.06137457489967346, + 0.034188270568847656 + ], + "min_contact_pad_to_button": 0.02109306386292953, + "closest_contact_pad": [ + 0.16334976255893702, + -0.37677860260009766, + 0.7904859118777611 + ], + "closest_contact_pad_button": [ + 0.16334976255893702, + -0.37677860260009766, + 0.7693928480148315 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02109306386292953 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 63, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e6a6bc2efd6f7918cf6cc985858f61346268159abb48203e2989834814c8cb8b", + "visual_seed": 7749025136703913261, + "episode_index": 63, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_64_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_64_success.json new file mode 100644 index 0000000000000000000000000000000000000000..64026bf1b93a4517a4006e5f6639dc39d7b2afdb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_64_success.json @@ -0,0 +1,700 @@ +{ + "episode": 64, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19246170293336162, + 0.15157507313663227, + 1.1610748919473872 + ], + "current_z": 1.1610748919473872, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 0.2999683243279764, + "gripper_z": 1.1553433593606675, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18840378336345956, + 0.1470652272650711, + 1.1553433593606675 + ], + "object_minus_gripper": [ + 0.004057919569902063, + 0.004509845871561169, + 0.0057315325867197675 + ], + "object_to_gripper_xy": 0.006066747153214106, + "object_to_gripper_z": 0.0057315325867197675, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19246170293336162, + 0.12802407957965325, + 1.1610748919473872 + ], + "finger_b": [ + 0.18219927861071417, + 0.15157507313663227, + 1.1610748919473872 + ], + "finger_midpoint": [ + 0.1873304907720379, + 0.13979957635814277, + 1.1610748919473872 + ], + "object_minus_finger_midpoint": [ + 0.005131212161323728, + 0.011775496778489492, + 0.0 + ], + "finger_gap": 0.025689816085346602, + "fingertip_max_gap": 0.09113069978320976, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012844908042673287, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1610748919473872, + "object_top_z": 1.2112954960528293, + "finger_top_clearance": 0.050220604105442046, + "fingertip_min_top_clearance": 0.015066181231632579, + "object_projection_between_fingers": 0.8404201895679934, + "object_to_finger_line_xy": 0.00940801943846979, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04806534989160488, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.39318136455738795, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 351, + "max_stable_success_frames": 351, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.31489714171080485, + -0.3209791902297241, + 0.8515395827790757 + ], + "target_position": [ + 0.30563832323641754, + -0.3227082233352199, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009418878649900755, + "xy_threshold": 0.08, + "gripper_dist": 0.185915699889676, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395827790757, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07578702980838102, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08555539851253834, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15350956737734958, + "release_required_pad_clearance": 0.05277769925626917, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6039293554829941, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00742727518081665, + "max_z_decrease": 0.00742727518081665, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035117760664045136, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00742727518081665, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021187132735947845, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00742727518081665, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007427300209628642, + "max_button_displacement": 0.12, + "button_start": [ + 0.1613382548093796, + -0.3789696693420409, + 0.7768088579177856 + ], + "button_final": [ + 0.1613382548093796, + -0.3789696693420409, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16159154022938627, + -0.3792530807666868, + 0.8081427529832875 + ], + "closest_button": [ + 0.1613348573446274, + -0.37897863984107966, + 0.7730270028114319 + ], + "closest_ee_minus_button": [ + 0.0002566828847588576, + -0.0002744409256071334, + 0.03511575017185564 + ], + "button_min_z_position": [ + 0.1613193303346634, + -0.37897336483001703, + 0.769381582736969 + ], + "min_active_finger_to_button": 0.14592570513046912, + "closest_active_finger": [ + 0.020651139318943024, + -0.36106958985328674, + 0.8106671571731567 + ], + "closest_active_finger_button": [ + 0.16134078800678256, + -0.3789718151092529, + 0.7763124704360962 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14068964868783954, + 0.01790222525596613, + 0.03435468673706055 + ], + "min_contact_pad_to_button": 0.021187132735947845, + "closest_contact_pad": [ + 0.1613193303346634, + -0.3807327221684219, + 0.7904955415160912 + ], + "closest_contact_pad_button": [ + 0.1613193303346634, + -0.37897336483001703, + 0.769381582736969 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0017593573384048766, + 0.021113958779122255 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 64, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1ee65dda8d8d1764645e5e451ca3aa3cd7851e04c603d84e36cbb19742a6d902", + "visual_seed": 584580570527806369, + "episode_index": 64, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_65_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_65_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d6070c6e24af1bd8f772bd91487896d23cc50268 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_65_success.json @@ -0,0 +1,700 @@ +{ + "episode": 65, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19048000058481557, + 0.14749593594465768, + 1.1623422967469512 + ], + "current_z": 1.1623422967469512, + "required_z": 0.8611066868287003, + "initial_z": 0.7611066868287003, + "lift_margin": 0.30123560991825094, + "gripper_z": 1.1565161932295158, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18666408850401614, + 0.14321064929461522, + 1.1565161932295158 + ], + "object_minus_gripper": [ + 0.0038159120807994273, + 0.0042852866500424636, + 0.005826103517435399 + ], + "object_to_gripper_xy": 0.0057380194040647136, + "object_to_gripper_z": 0.005826103517435399, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19048000058481557, + 0.1238036368167667, + 1.1623422967469512 + ], + "finger_b": [ + 0.1809408170556901, + 0.14749593594465768, + 1.1623422967469512 + ], + "finger_midpoint": [ + 0.18571040882025283, + 0.13564978638071218, + 1.1623422967469512 + ], + "object_minus_finger_midpoint": [ + 0.004769591764562736, + 0.011846149563945502, + 0.0 + ], + "finger_gap": 0.02554057674305344, + "fingertip_max_gap": 0.09044258565512386, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012770288371526732, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1623422967469512, + "object_top_z": 1.212273036916357, + "finger_top_clearance": 0.049930740169405796, + "fingertip_min_top_clearance": 0.014979222050821738, + "object_projection_between_fingers": 0.8605042395058778, + "object_to_finger_line_xy": 0.008848867896820734, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047721292827561934, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.17892447385683458, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 359, + "max_stable_success_frames": 359, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.31258954004031775, + -0.31496651232994827, + 0.8515396080057864 + ], + "target_position": [ + 0.304350362036765, + -0.3162793900014263, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008343123033642298, + "xy_threshold": 0.08, + "gripper_dist": 0.18319886646847217, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396080057864, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07561491591307884, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08513150010467972, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15111696289166018, + "release_required_pad_clearance": 0.05256575005233986, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.19782342549588453, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007630050182342529, + "max_z_decrease": 0.007630050182342529, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035147239851129435, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007630050182342529, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02128345107745534, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007630050182342529, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007630075642951428, + "max_button_displacement": 0.12, + "button_start": [ + 0.16005028784275055, + -0.37254086136817927, + 0.7768088579177856 + ], + "button_final": [ + 0.16005028784275055, + -0.37254086136817927, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15987612142462246, + -0.37401038171898227, + 0.8078140731002738 + ], + "closest_button": [ + 0.16004206240177155, + -0.37255167961120605, + 0.7726975083351135 + ], + "closest_ee_minus_button": [ + -0.00016594097714908718, + -0.0014587021077762108, + 0.03511656476516023 + ], + "button_min_z_position": [ + 0.16003087162971497, + -0.37254425883293146, + 0.7691788077354431 + ], + "min_active_finger_to_button": 0.14617157551593246, + "closest_active_finger": [ + 0.018886469304561615, + -0.3563418984413147, + 0.8107653856277466 + ], + "closest_active_finger_button": [ + 0.1600521057844162, + -0.37254405021667475, + 0.7764742374420166 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14116563647985458, + 0.016202151775360052, + 0.03429114818572998 + ], + "min_contact_pad_to_button": 0.02128345107745534, + "closest_contact_pad": [ + 0.16003087162971497, + -0.3754519744888859, + 0.7902626992033518 + ], + "closest_contact_pad_button": [ + 0.16003087162971497, + -0.37254425883293146, + 0.7691788077354431 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002907715655954435, + 0.021083891467908678 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 65, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7069434a988ae0881531eeb42a228672e50e557f5e570ac49820ed5b97006639", + "visual_seed": 1570723856297936855, + "episode_index": 65, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_66_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_66_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7cf3984af8386220c9a99f46ecea67e6097d5dea --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_66_success.json @@ -0,0 +1,700 @@ +{ + "episode": 66, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19514732690379294, + 0.1524749329196497, + 1.161417509258528 + ], + "current_z": 1.161417509258528, + "required_z": 0.8611066272240556, + "initial_z": 0.7611066272240556, + "lift_margin": 0.3003108820344723, + "gripper_z": 1.15536766068129, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1914665404711929, + 0.1482513362337874, + 1.15536766068129 + ], + "object_minus_gripper": [ + 0.0036807864326000306, + 0.0042235966858623075, + 0.006049848577238004 + ], + "object_to_gripper_xy": 0.005602406422890036, + "object_to_gripper_z": 0.006049848577238004, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19514732690379294, + 0.12882593813876617, + 1.161417509258528 + ], + "finger_b": [ + 0.18576472867425572, + 0.1524749329196497, + 1.161417509258528 + ], + "finger_midpoint": [ + 0.19045602778902432, + 0.14065043552920792, + 1.161417509258528 + ], + "object_minus_finger_midpoint": [ + 0.004691299114768621, + 0.01182449739044178, + 0.0 + ], + "finger_gap": 0.025442250365939948, + "fingertip_max_gap": 0.09048279917410823, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012721125182969991, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.161417509258528, + "object_top_z": 1.2113459988286435, + "finger_top_clearance": 0.04992848957011553, + "fingertip_min_top_clearance": 0.014978546871034691, + "object_projection_between_fingers": 0.8640011626055538, + "object_to_finger_line_xy": 0.008721281072624758, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04774139958705412, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.20539926605763337, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 359, + "max_stable_success_frames": 359, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.31375173607934365, + -0.31934772628052777, + 0.8515396048290232 + ], + "target_position": [ + 0.30619899489676583, + -0.3203641875039889, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007620832814713034, + "xy_threshold": 0.08, + "gripper_dist": 0.18284858761619788, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396048290232, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07519218046716303, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08570240715821785, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15172419637161366, + "release_required_pad_clearance": 0.05285120357910893, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7454570366722129, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007383406162261963, + "max_z_decrease": 0.007383406162261963, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03517694851302851, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007383406162261963, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021270351750293494, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007383406162261963, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007383426666457087, + "max_button_displacement": 0.12, + "button_start": [ + 0.1618989259004593, + -0.37662565708160395, + 0.7768088579177856 + ], + "button_final": [ + 0.1618989259004593, + -0.37662565708160395, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1616698360468609, + -0.378414390717295, + 0.8082178798693811 + ], + "closest_button": [ + 0.1618916541337967, + -0.37663495540618885, + 0.773086667060852 + ], + "closest_ee_minus_button": [ + -0.0002218180869358044, + -0.0017794353111061367, + 0.035131212808529044 + ], + "button_min_z_position": [ + 0.1618817150592804, + -0.3766282200813293, + 0.7694254517555237 + ], + "min_active_finger_to_button": 0.14620051101776493, + "closest_active_finger": [ + 0.02046108990907669, + -0.362566739320755, + 0.8105989098548889 + ], + "closest_active_finger_button": [ + 0.16190025210380554, + -0.37662881612777704, + 0.7763671875 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14143916219472885, + 0.01406207680702204, + 0.034231722354888916 + ], + "min_contact_pad_to_button": 0.021270351750293494, + "closest_contact_pad": [ + 0.1618817150592804, + -0.3796145751169976, + 0.7904851181152301 + ], + "closest_contact_pad_button": [ + 0.1618817150592804, + -0.3766282200813293, + 0.7694254517555237 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0029863550356682977, + 0.021059666359706464 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 66, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c8dc2daa9998984c76cb18bceb0a02b85ef76326c3d5d6c47e13865b1fe7eff8", + "visual_seed": 8984124043501384333, + "episode_index": 66, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_67_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_67_success.json new file mode 100644 index 0000000000000000000000000000000000000000..085b309f09420afae99dd9a09ecf24e655b6d565 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_67_success.json @@ -0,0 +1,700 @@ +{ + "episode": 67, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19782403887540095, + 0.1501532151400062, + 1.1621343909691686 + ], + "current_z": 1.1621343909691686, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.3010279425590474, + "gripper_z": 1.1561090895130341, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19367149446794493, + 0.14566964196856738, + 1.1561090895130341 + ], + "object_minus_gripper": [ + 0.004152544407456021, + 0.004483573171438826, + 0.0060253014561344465 + ], + "object_to_gripper_xy": 0.0061111417459866115, + "object_to_gripper_z": 0.0060253014561344465, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19782403887540095, + 0.12648329954969045, + 1.1621343909691686 + ], + "finger_b": [ + 0.18762335860731513, + 0.1501532151400062, + 1.1621343909691686 + ], + "finger_midpoint": [ + 0.19272369874135803, + 0.13831825734484832, + 1.1621343909691686 + ], + "object_minus_finger_midpoint": [ + 0.005100340134042924, + 0.011834957795157891, + 0.0 + ], + "finger_gap": 0.025774382281334857, + "fingertip_max_gap": 0.090450602921361, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012887191140667447, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1621343909691686, + "object_top_z": 1.2120451177887537, + "finger_top_clearance": 0.04991072681958508, + "fingertip_min_top_clearance": 0.014973218045875557, + "object_projection_between_fingers": 0.8433675507097723, + "object_to_finger_line_xy": 0.00936779932391405, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047725301460680505, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.0673661705819624, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 362, + "max_stable_success_frames": 362, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32142109656699147, + -0.3143295322289439, + 0.8515395843429143 + ], + "target_position": [ + 0.3125034168284897, + -0.3161188751387823, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009095425221916453, + "xy_threshold": 0.08, + "gripper_dist": 0.1835051565886265, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395843429143, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07522385059302998, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08570128054329927, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15248158386700247, + "release_required_pad_clearance": 0.05285064027164964, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.744406354735603, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0076141357421875, + "max_z_decrease": 0.0076141357421875, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03511063318627335, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0076141357421875, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02131118829590925, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0076141357421875, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007614157793366774, + "max_button_displacement": 0.12, + "button_start": [ + 0.1682033389806747, + -0.3723803460597992, + 0.7768088579177856 + ], + "button_final": [ + 0.1682033389806747, + -0.3723803460597992, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16933987095380704, + -0.3735051106453017, + 0.8043343888416724 + ], + "closest_button": [ + 0.16818471252918238, + -0.3723849952220917, + 0.7692606449127197 + ], + "closest_ee_minus_button": [ + 0.0011551584246246582, + -0.0011201154232099997, + 0.03507374392895268 + ], + "button_min_z_position": [ + 0.1681856215000152, + -0.37238502502441406, + 0.7691947221755981 + ], + "min_active_finger_to_button": 0.144611491899092, + "closest_active_finger": [ + 0.028774715960025787, + -0.3558460772037506, + 0.8083983659744263 + ], + "closest_active_finger_button": [ + 0.16820943355560297, + -0.3723872900009156, + 0.7738031148910522 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13943471759557718, + 0.016541212797164973, + 0.03459525108337402 + ], + "min_contact_pad_to_button": 0.02131118829590925, + "closest_contact_pad": [ + 0.1681856215000152, + -0.37482831510173137, + 0.7903653877339074 + ], + "closest_contact_pad_button": [ + 0.1681856215000152, + -0.37238502502441406, + 0.7691947221755981 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002443290077317306, + 0.021170665558309265 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 67, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "100b30bd3c4e12c7a1827a8a8df19633cdd0f70448660225c4fea3e37cd026a0", + "visual_seed": 7951031500070273460, + "episode_index": 67, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_68_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_68_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4ab0a52d799de258ab46f3867baebb184a0ff178 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_68_success.json @@ -0,0 +1,700 @@ +{ + "episode": 68, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.1900750941135758, + 0.14749028546728746, + 1.160460562574006 + ], + "current_z": 1.160460562574006, + "required_z": 0.8611066272240555, + "initial_z": 0.7611066272240555, + "lift_margin": 0.2993539353499506, + "gripper_z": 1.1545517726203811, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18631799903022042, + 0.14325226411445247, + 1.1545517726203811 + ], + "object_minus_gripper": [ + 0.0037570950833553662, + 0.004238021352834992, + 0.005908789953624982 + ], + "object_to_gripper_xy": 0.005663619730566168, + "object_to_gripper_z": 0.005908789953624982, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1900750941135758, + 0.12384034524299187, + 1.160460562574006 + ], + "finger_b": [ + 0.1806069955365443, + 0.14749028546728746, + 1.160460562574006 + ], + "finger_midpoint": [ + 0.18534104482506003, + 0.13566531535513965, + 1.160460562574006 + ], + "object_minus_finger_midpoint": [ + 0.004734049288515757, + 0.011824970112147809, + 0.0 + ], + "finger_gap": 0.025474782889695846, + "fingertip_max_gap": 0.09020773540512947, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01273739144484794, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.160460562574006, + "object_top_z": 1.210315075013679, + "finger_top_clearance": 0.04985451243967298, + "fingertip_min_top_clearance": 0.014956353731901894, + "object_projection_between_fingers": 0.8618647369408013, + "object_to_finger_line_xy": 0.008789867468315301, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04760386770256474, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.09679499245101225, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 355, + "max_stable_success_frames": 355, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.31920310155112386, + -0.315212845739655, + 0.8515396136043443 + ], + "target_position": [ + 0.31107384915060204, + -0.31664588984987935, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008254596296199972, + "xy_threshold": 0.08, + "gripper_dist": 0.18290313488145113, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396136043443, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07559001837970061, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08544933066403747, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15092587372759397, + "release_required_pad_clearance": 0.052724665332018736, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5020199334148272, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007451355457305908, + "max_z_decrease": 0.007451355457305908, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035120982360270586, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007451355457305908, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021126838265538822, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007451355457305908, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007451382913380567, + "max_button_displacement": 0.12, + "button_start": [ + 0.16677378118038177, + -0.37290734052658076, + 0.7768088579177856 + ], + "button_final": [ + 0.16677378118038177, + -0.37290734052658076, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1663574696104309, + -0.37290406481795385, + 0.8081704885640333 + ], + "closest_button": [ + 0.16676883399486542, + -0.3729163706302642, + 0.773051917552948 + ], + "closest_ee_minus_button": [ + -0.0004113643844345094, + 1.2305812310375863e-05, + 0.03511857101108529 + ], + "button_min_z_position": [ + 0.16675388813018802, + -0.37291100621223444, + 0.7693575024604797 + ], + "min_active_finger_to_button": 0.14651997484958468, + "closest_active_finger": [ + 0.03910771757364273, + -0.43612006306648254, + 0.810590922832489 + ], + "closest_active_finger_button": [ + 0.1667757332324982, + -0.37290957570075983, + 0.7763357758522034 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12766801565885547, + -0.06321048736572271, + 0.034255146980285645 + ], + "min_contact_pad_to_button": 0.021126838265538822, + "closest_contact_pad": [ + 0.16675388813018802, + -0.3741671975266966, + 0.7904469614027975 + ], + "closest_contact_pad_button": [ + 0.16675388813018802, + -0.37291100621223444, + 0.7693575024604797 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0012561913144621406, + 0.02108945894231773 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 68, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "cccc2e033934e343a13f43b4749974c4e94298d53a089a8fd620ecca1ed253af", + "visual_seed": 8340365124700826855, + "episode_index": 68, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_69_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_69_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8f665ff27b475a74d393a050aebcad1fb1222af0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_69_success.json @@ -0,0 +1,700 @@ +{ + "episode": 69, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.18905877991606782, + 0.14948707759739915, + 1.1598618770257278 + ], + "current_z": 1.1598618770257278, + "required_z": 0.8611067464333452, + "initial_z": 0.7611067464333452, + "lift_margin": 0.2987551305923827, + "gripper_z": 1.1540911288060058, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18526506193896722, + 0.14511963239764036, + 1.1540911288060058 + ], + "object_minus_gripper": [ + 0.003793717977100597, + 0.00436744519975879, + 0.005770748219722011 + ], + "object_to_gripper_xy": 0.005785056063917821, + "object_to_gripper_z": 0.005770748219722011, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18905877991606782, + 0.1260466889705099, + 1.1598618770257278 + ], + "finger_b": [ + 0.17910441973549363, + 0.14948707759739915, + 1.1598618770257278 + ], + "finger_midpoint": [ + 0.1840815998257807, + 0.13776688328395453, + 1.1598618770257278 + ], + "object_minus_finger_midpoint": [ + 0.004977180090287109, + 0.01172019431344462, + 0.0 + ], + "finger_gap": 0.025466470222317805, + "fingertip_max_gap": 0.09020446925067635, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01273323511115891, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1598618770257278, + "object_top_z": 1.2096720566774173, + "finger_top_clearance": 0.049810179651689435, + "fingertip_min_top_clearance": 0.014943053895506863, + "object_projection_between_fingers": 0.8472120182492637, + "object_to_finger_line_xy": 0.00916240331415091, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04760223462533818, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.1624158879308683, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 347, + "max_stable_success_frames": 347, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3150591896191667, + -0.3184611466648449, + 0.851539559178088 + ], + "target_position": [ + 0.3064184254898724, + -0.3199291412429704, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008764577161478151, + "xy_threshold": 0.08, + "gripper_dist": 0.18379518980104, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539559178088, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07560396921994278, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08558692154629081, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15168502259463748, + "release_required_pad_clearance": 0.05279346077314541, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6342709101265249, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0077852606773376465, + "max_z_decrease": 0.0077852606773376465, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035156561823249624, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0077852606773376465, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021105769695481655, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0077852606773376465, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007785282507910336, + "max_button_displacement": 0.12, + "button_start": [ + 0.16211834549903875, + -0.37619060277938837, + 0.7768088579177856 + ], + "button_final": [ + 0.16211834549903875, + -0.37619060277938837, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16333141281561203, + -0.3760358241426687, + 0.8077666042630003 + ], + "closest_button": [ + 0.16210825741291052, + -0.3761988282203674, + 0.7726317048072815 + ], + "closest_ee_minus_button": [ + 0.0012231554027015146, + 0.00016300407769870295, + 0.03513489945571879 + ], + "button_min_z_position": [ + 0.16210016608238226, + -0.3761936724185943, + 0.769023597240448 + ], + "min_active_finger_to_button": 0.14498797076842262, + "closest_active_finger": [ + 0.022040069103240967, + -0.36107751727104187, + 0.8106251955032349 + ], + "closest_active_finger_button": [ + 0.16211932897567755, + -0.37619337439537043, + 0.7764078974723816 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14007925987243658, + 0.015115857124328558, + 0.03421729803085327 + ], + "min_contact_pad_to_button": 0.021105769695481655, + "closest_contact_pad": [ + 0.16210016608238226, + -0.3771555877650139, + 0.7901074354419007 + ], + "closest_contact_pad_button": [ + 0.16210016608238226, + -0.3761936724185943, + 0.769023597240448 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0009619153464195951, + 0.021083838201452654 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 69, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d29ed441a413074bed38e8c703b1362f6e975b2c69c1bca3dae42d5c31910f22", + "visual_seed": 7291023633748513082, + "episode_index": 69, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_6_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_6_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d7bcac15c6072a3d6550fddd1857197b6a365218 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_6_success.json @@ -0,0 +1,700 @@ +{ + "episode": 6, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19597214054265663, + 0.14928502263391344, + 1.1620677355619864 + ], + "current_z": 1.1620677355619864, + "required_z": 0.8611065676194107, + "initial_z": 0.7611065676194108, + "lift_margin": 0.30096116794257566, + "gripper_z": 1.156293656548334, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19209469848082783, + 0.1449193048729242, + 1.156293656548334 + ], + "object_minus_gripper": [ + 0.003877442061828801, + 0.004365717760989235, + 0.005774079013652456 + ], + "object_to_gripper_xy": 0.005839010918936189, + "object_to_gripper_z": 0.005774079013652456, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19597214054265663, + 0.12551080508012907, + 1.1620677355619864 + ], + "finger_b": [ + 0.18637057603142415, + 0.14928502263391344, + 1.1620677355619864 + ], + "finger_midpoint": [ + 0.1911713582870404, + 0.13739791385702127, + 1.1620677355619864 + ], + "object_minus_finger_midpoint": [ + 0.004800782255616226, + 0.011887108776892169, + 0.0 + ], + "finger_gap": 0.025639880291413758, + "fingertip_max_gap": 0.09064446245496474, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012819940145706862, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1620677355619864, + "object_top_z": 1.2120113821606608, + "finger_top_clearance": 0.04994364659867445, + "fingertip_min_top_clearance": 0.014983093979602367, + "object_projection_between_fingers": 0.8597664197372525, + "object_to_finger_line_xy": 0.008902915339397235, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04782223122748237, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3113040994049778, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 353, + "max_stable_success_frames": 353, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.31864997533138617, + -0.32218125972212286, + 0.8515395612394658 + ], + "target_position": [ + 0.3101366665531128, + -0.3238017321585356, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008666161622737029, + "xy_threshold": 0.08, + "gripper_dist": 0.18486135647822785, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395612394658, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07545059369035213, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08521133170587435, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15318256097025362, + "release_required_pad_clearance": 0.052605665852937175, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.2741122211609652, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007764875888824463, + "max_z_decrease": 0.007764875888824463, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03511911545002762, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007764875888824463, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02113089240513322, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007764875888824463, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007764897449298536, + "max_button_displacement": 0.12, + "button_start": [ + 0.16583658754825598, + -0.38006317615509033, + 0.7768088579177856 + ], + "button_final": [ + 0.16583658754825598, + -0.38006317615509033, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16635792844443212, + -0.3796863565596684, + 0.807908454710289 + ], + "closest_button": [ + 0.16583381593227392, + -0.38007301092147827, + 0.7727953791618347 + ], + "closest_ee_minus_button": [ + 0.000524112512158198, + 0.00038665436180984614, + 0.03511307554845433 + ], + "button_min_z_position": [ + 0.16581869125366216, + -0.38006699085235596, + 0.7690439820289612 + ], + "min_active_finger_to_button": 0.14555781576222515, + "closest_active_finger": [ + 0.03876280039548874, + -0.44221004843711853, + 0.8109529614448547 + ], + "closest_active_finger_button": [ + 0.1658405959606171, + -0.3800656199455261, + 0.7766545414924622 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12707779556512835, + -0.06214442849159241, + 0.03429841995239258 + ], + "min_contact_pad_to_button": 0.02113089240513322, + "closest_contact_pad": [ + 0.16581869125366216, + -0.38096916971066824, + 0.7901556064843396 + ], + "closest_contact_pad_button": [ + 0.16581869125366216, + -0.38006699085235596, + 0.7690439820289612 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0009021788583122858, + 0.021111624455378397 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 6, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "13adc309de4e5eec6e8aebe2997dffba1fa6a0e3b7f3a6d1e2dfb26ae2988733", + "visual_seed": 1794674523872811225, + "episode_index": 6, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_70_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_70_success.json new file mode 100644 index 0000000000000000000000000000000000000000..79b76c5cebd56680d7c87985b93cfb0c5d3587ea --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_70_success.json @@ -0,0 +1,700 @@ +{ + "episode": 70, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19336360374747844, + 0.14775456734881923, + 1.1630365967121579 + ], + "current_z": 1.1630365967121579, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.3019301483020368, + "gripper_z": 1.1573730016845056, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18936048682293144, + 0.14314487677665783, + 1.1573730016845056 + ], + "object_minus_gripper": [ + 0.0040031169245469955, + 0.004609690572161401, + 0.005663595027652235 + ], + "object_to_gripper_xy": 0.006105259395199216, + "object_to_gripper_z": 0.005663595027652235, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19336360374747844, + 0.12430961351317017, + 1.1630365967121579 + ], + "finger_b": [ + 0.1828569009965908, + 0.14775456734881923, + 1.1630365967121579 + ], + "finger_midpoint": [ + 0.1881102523720346, + 0.1360320904309947, + 1.1630365967121579 + ], + "object_minus_finger_midpoint": [ + 0.005253351375443832, + 0.01172247691782452, + 0.0 + ], + "finger_gap": 0.0256915679368003, + "fingertip_max_gap": 0.09071231609693955, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012845783968400148, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1630365967121579, + "object_top_z": 1.2129496922181522, + "finger_top_clearance": 0.04991309550599432, + "fingertip_min_top_clearance": 0.014973928651798295, + "object_projection_between_fingers": 0.8327555664915048, + "object_to_finger_line_xy": 0.00958793801785093, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04785615804846978, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.39716346127623753, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 357, + "max_stable_success_frames": 357, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.31654772910943396, + -0.31817948902119, + 0.8515395958631021 + ], + "target_position": [ + 0.30863232860602835, + -0.3193382533063288, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007999768734021449, + "xy_threshold": 0.08, + "gripper_dist": 0.1862499892830653, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395958631021, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07536879673209311, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08671463581182874, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15459231415255326, + "release_required_pad_clearance": 0.05335731790591437, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.7309430246135773, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007570862770080566, + "max_z_decrease": 0.007570862770080566, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035154416160956464, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007570862770080566, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02124342907599697, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007570862770080566, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007570883029314666, + "max_button_displacement": 0.12, + "button_start": [ + 0.1643322557210922, + -0.37559971213340754, + 0.7768088579177856 + ], + "button_final": [ + 0.1643322557210922, + -0.37559971213340754, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1659075049198606, + -0.376459857966338, + 0.8074890829268964 + ], + "closest_button": [ + 0.164320707321167, + -0.3756031692028045, + 0.7723809480667114 + ], + "closest_ee_minus_button": [ + 0.0015867975986935956, + -0.0008566887635335085, + 0.035108134860184936 + ], + "button_min_z_position": [ + 0.16431522369384766, + -0.37560379505157465, + 0.7692379951477051 + ], + "min_active_finger_to_button": 0.14453988746817722, + "closest_active_finger": [ + 0.02489461749792099, + -0.3593529760837555, + 0.8100062012672424 + ], + "closest_active_finger_button": [ + 0.16433584690093994, + -0.3756050169467926, + 0.7755998969078064 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13944122940301895, + 0.01625204086303711, + 0.034406304359436035 + ], + "min_contact_pad_to_button": 0.02124342907599697, + "closest_contact_pad": [ + 0.16431522369384766, + -0.37781129365239424, + 0.7903664174464545 + ], + "closest_contact_pad_button": [ + 0.16431522369384766, + -0.37560379505157465, + 0.7692379951477051 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0022074986008195907, + 0.02112842229874945 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 70, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4b89f7444174e5e61d5323c05010d497b54daa6e9d92a44dc61792f5510b26b8", + "visual_seed": 3795558620255063535, + "episode_index": 70, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_71_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_71_success.json new file mode 100644 index 0000000000000000000000000000000000000000..60e37e61ad8698b847d6157c409822f060422856 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_71_success.json @@ -0,0 +1,700 @@ +{ + "episode": 71, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.1898492589992457, + 0.14558652112987222, + 1.1598840775542285 + ], + "current_z": 1.1598840775542285, + "required_z": 0.8611068060379898, + "initial_z": 0.7611068060379899, + "lift_margin": 0.2987772715162387, + "gripper_z": 1.1543305778977995, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18586956518899928, + 0.14117007530939008, + 1.1543305778977995 + ], + "object_minus_gripper": [ + 0.003979693810246432, + 0.0044164458204821455, + 0.0055534996564290395 + ], + "object_to_gripper_xy": 0.005944994239573995, + "object_to_gripper_z": 0.0055534996564290395, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1898492589992457, + 0.1218144282527119, + 1.1598840775542285 + ], + "finger_b": [ + 0.18007020474535868, + 0.14558652112987222, + 1.1598840775542285 + ], + "finger_midpoint": [ + 0.1849597318723022, + 0.13370047469129206, + 1.1598840775542285 + ], + "object_minus_finger_midpoint": [ + 0.004889527126943516, + 0.011886046438580156, + 0.0 + ], + "finger_gap": 0.025704908127842097, + "fingertip_max_gap": 0.09055950386557293, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012852454063921043, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1598840775542285, + "object_top_z": 1.20985883275885, + "finger_top_clearance": 0.04997475520462147, + "fingertip_min_top_clearance": 0.01499242656138644, + "object_projection_between_fingers": 0.8552689878774975, + "object_to_finger_line_xy": 0.009043743117774287, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04777975193278647, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.2651843022404547, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 354, + "max_stable_success_frames": 354, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.31427596561893, + -0.32389256464955274, + 0.8515396717604578 + ], + "target_position": [ + 0.3063738732357453, + -0.32510713226254784, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007994888274323963, + "xy_threshold": 0.08, + "gripper_dist": 0.18631406941161532, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396717604578, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07550918790103071, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08510007280339692, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.154353476024894, + "release_required_pad_clearance": 0.05255003640169846, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.16785873778588709, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0076528191566467285, + "max_z_decrease": 0.0076528191566467285, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03512377603698874, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0076528191566467285, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021150286273713955, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0076528191566467285, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007652839867997314, + "max_button_displacement": 0.12, + "button_start": [ + 0.16207380592823026, + -0.3813685774803161, + 0.7768088579177856 + ], + "button_final": [ + 0.16207380592823026, + -0.3813685774803161, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16308160376405154, + -0.3806789272569008, + 0.8076107557513107 + ], + "closest_button": [ + 0.1620635986328125, + -0.38137423992156977, + 0.7725086212158203 + ], + "closest_ee_minus_button": [ + 0.001018005131239036, + 0.00069531266466899, + 0.03510213453549038 + ], + "button_min_z_position": [ + 0.1620564758777618, + -0.3813726603984832, + 0.7691560387611389 + ], + "min_active_finger_to_button": 0.14499762865948046, + "closest_active_finger": [ + 0.03469692915678024, + -0.44151628017425537, + 0.8109948039054871 + ], + "closest_active_finger_button": [ + 0.16207808256149292, + -0.3813709020614623, + 0.7766307592391968 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12738115340471268, + -0.06014537811279308, + 0.03436404466629028 + ], + "min_contact_pad_to_button": 0.021150286273713955, + "closest_contact_pad": [ + 0.1620564758777618, + -0.38215697522527853, + 0.7902917776815676 + ], + "closest_contact_pad_button": [ + 0.1620564758777618, + -0.3813726603984832, + 0.7691560387611389 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0007843148267953071, + 0.021135738920428637 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 71, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a762824a5d79394c40343a6482a585f8589601b18f43b647ab0c0cddacef62f0", + "visual_seed": 3699187103216717027, + "episode_index": 71, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_72_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_72_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b927494c496269a292fe0d508a0c375bac2a35a5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_72_success.json @@ -0,0 +1,700 @@ +{ + "episode": 72, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19183446461356113, + 0.15085302431364495, + 1.1619571786835543 + ], + "current_z": 1.1619571786835543, + "required_z": 0.8611066272240557, + "initial_z": 0.7611066272240558, + "lift_margin": 0.30085055145949857, + "gripper_z": 1.1562865061429148, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1878066266052274, + 0.1463481978055916, + 1.1562865061429148 + ], + "object_minus_gripper": [ + 0.004027838008333728, + 0.004504826508053339, + 0.005670672540639465 + ], + "object_to_gripper_xy": 0.0060429248621042654, + "object_to_gripper_z": 0.005670672540639465, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19183446461356113, + 0.12719524953621764, + 1.1619571786835543 + ], + "finger_b": [ + 0.1817322819948737, + 0.15085302431364495, + 1.1619571786835543 + ], + "finger_midpoint": [ + 0.1867833733042174, + 0.1390241369249313, + 1.1619571786835543 + ], + "object_minus_finger_midpoint": [ + 0.005051091309343725, + 0.011828887388713655, + 0.0 + ], + "finger_gap": 0.025724393113945098, + "fingertip_max_gap": 0.09078126035533796, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012862196556972554, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1619571786835543, + "object_top_z": 1.2119484972841632, + "finger_top_clearance": 0.0499913186006089, + "fingertip_min_top_clearance": 0.01499739558018267, + "object_projection_between_fingers": 0.8457801932367971, + "object_to_finger_line_xy": 0.009290604450597874, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04789063017766898, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.16638218006894048, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 357, + "max_stable_success_frames": 357, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3216364154305352, + -0.317920814294418, + 0.8515395396553286 + ], + "target_position": [ + 0.3124750890634685, + -0.3198188142966329, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009355870072436875, + "xy_threshold": 0.08, + "gripper_dist": 0.18639744487090731, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395396553286, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07521803476928508, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0857909199215982, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15536872182658384, + "release_required_pad_clearance": 0.0528954599607991, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.830860135173149, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007611095905303955, + "max_z_decrease": 0.007611095905303955, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03509876164783331, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007611095905303955, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.0213548705822904, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007611095905303955, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007611115939510895, + "max_button_displacement": 0.12, + "button_start": [ + 0.16817501187324524, + -0.3760802745819091, + 0.7768088579177856 + ], + "button_final": [ + 0.16817501187324524, + -0.3760802745819091, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16762712818298967, + -0.37763578696319827, + 0.8075440520833347 + ], + "closest_button": [ + 0.1681644767522812, + -0.3760858476161956, + 0.7724836468696594 + ], + "closest_ee_minus_button": [ + -0.0005373485692915236, + -0.001549939347002649, + 0.03506040521367526 + ], + "button_min_z_position": [ + 0.16815808415412903, + -0.37608456611633295, + 0.7691977620124817 + ], + "min_active_finger_to_button": 0.14657385776140588, + "closest_active_finger": [ + 0.02670811116695404, + -0.3594815135002136, + 0.8089213371276855 + ], + "closest_active_finger_button": [ + 0.16817960143089294, + -0.3760879933834075, + 0.7743679285049438 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1414714902639389, + 0.01660647988319386, + 0.0345534086227417 + ], + "min_contact_pad_to_button": 0.0213548705822904, + "closest_contact_pad": [ + 0.16815808415412903, + -0.37910594718793045, + 0.7903378129586494 + ], + "closest_contact_pad_button": [ + 0.16815808415412903, + -0.37608456611633295, + 0.7691977620124817 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0030213810715974954, + 0.021140050946167666 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 72, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7d80962f6fea66f61b42e7c2c969f41ead1e8460b580886134f35dc91d430d54", + "visual_seed": 7360978387035748106, + "episode_index": 72, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_73_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_73_success.json new file mode 100644 index 0000000000000000000000000000000000000000..13e2b1f1b84403b6951ac5e1d188cd52b46a718b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_73_success.json @@ -0,0 +1,700 @@ +{ + "episode": 73, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.1955264036697856, + 0.14812283773328427, + 1.1624014312233608 + ], + "current_z": 1.1624014312233608, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.30129492320859486, + "gripper_z": 1.1566391664115827, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1914811267736841, + 0.1434954593443536, + 1.1566391664115827 + ], + "object_minus_gripper": [ + 0.004045276896101513, + 0.004627378388930681, + 0.005762264811778106 + ], + "object_to_gripper_xy": 0.0061462912329693095, + "object_to_gripper_z": 0.005762264811778106, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1955264036697856, + 0.12468830070756332, + 1.1624014312233608 + ], + "finger_b": [ + 0.1849539387479269, + 0.14812283773328427, + 1.1624014312233608 + ], + "finger_midpoint": [ + 0.19024017120885625, + 0.1364055692204238, + 1.1624014312233608 + ], + "object_minus_finger_midpoint": [ + 0.005286232460929352, + 0.01171726851286048, + 0.0 + ], + "finger_gap": 0.025709036157231163, + "fingertip_max_gap": 0.09060272183486026, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012854518078615582, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1624014312233608, + "object_top_z": 1.2123330621874013, + "finger_top_clearance": 0.04993163096404052, + "fingertip_min_top_clearance": 0.014979489289212155, + "object_projection_between_fingers": 0.8308854728476456, + "object_to_finger_line_xy": 0.009637110436547662, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04780136091743013, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.2561695340406709, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 351, + "max_stable_success_frames": 351, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3138834457083078, + -0.3244978956875305, + 0.8515395654279498 + ], + "target_position": [ + 0.3062113380413471, + -0.32548747868703726, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007735664843201895, + "xy_threshold": 0.08, + "gripper_dist": 0.18432201387593608, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395654279498, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0756917561808315, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08544928155955021, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15207453970689658, + "release_required_pad_clearance": 0.05272464077977511, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5020199349996978, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007775485515594482, + "max_z_decrease": 0.007775485515594482, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03520335054982516, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007775485515594482, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021146162106753907, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007775485515594482, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007775508585296633, + "max_button_displacement": 0.12, + "button_start": [ + 0.1619112640619278, + -0.3817489445209502, + 0.7768088579177856 + ], + "button_final": [ + 0.1619112640619278, + -0.3817489445209502, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1638945173005556, + -0.3816831397073458, + 0.8042467740617905 + ], + "closest_button": [ + 0.1618921160697937, + -0.38175243139266957, + 0.7691004872322083 + ], + "closest_ee_minus_button": [ + 0.0020024012307618966, + 6.929168532376906e-05, + 0.03514628682958221 + ], + "button_min_z_position": [ + 0.16189265251159668, + -0.38175246119499195, + 0.7690333724021912 + ], + "min_active_finger_to_button": 0.14383706807236532, + "closest_active_finger": [ + 0.023276247084140778, + -0.36470720171928406, + 0.8102935552597046 + ], + "closest_active_finger_button": [ + 0.16191330552101135, + -0.3817537426948547, + 0.7759674191474915 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13863705843687057, + 0.017046540975570623, + 0.034326136112213135 + ], + "min_contact_pad_to_button": 0.021146162106753907, + "closest_contact_pad": [ + 0.16189265251159668, + -0.38293742975571143, + 0.7901463073321155 + ], + "closest_contact_pad_button": [ + 0.16189265251159668, + -0.38175246119499195, + 0.7690333724021912 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0011849685607194793, + 0.021112934929924387 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 73, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ef3ecebf67da7ad710ef41c054b97624af8fafd38fafe2a10388123e3561a785", + "visual_seed": 6000101169708529470, + "episode_index": 73, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_74_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_74_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f4cfd4d634e1c748882cdfd407ac23d1440a420f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_74_success.json @@ -0,0 +1,700 @@ +{ + "episode": 74, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19707491829050947, + 0.1454281828124456, + 1.1612067913902497 + ], + "current_z": 1.1612067913902497, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.30010028337548356, + "gripper_z": 1.1552448711856118, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19329087649452112, + 0.14114689038895142, + 1.1552448711856118 + ], + "object_minus_gripper": [ + 0.0037840417959883466, + 0.004281292423494176, + 0.005961920204637927 + ], + "object_to_gripper_xy": 0.0057138810916272445, + "object_to_gripper_z": 0.005961920204637927, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19707491829050947, + 0.12170778723778662, + 1.1612067913902497 + ], + "finger_b": [ + 0.18760709682415744, + 0.1454281828124456, + 1.1612067913902497 + ], + "finger_midpoint": [ + 0.19234100755733347, + 0.1335679850251161, + 1.1612067913902497 + ], + "object_minus_finger_midpoint": [ + 0.004733910733176, + 0.011860197787329496, + 0.0 + ], + "finger_gap": 0.025540101987600157, + "fingertip_max_gap": 0.09065896083620437, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01277005099380008, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1612067913902497, + "object_top_z": 1.2111815925652782, + "finger_top_clearance": 0.049974801175028505, + "fingertip_min_top_clearance": 0.014992440352508551, + "object_projection_between_fingers": 0.8625784428068258, + "object_to_finger_line_xy": 0.00879324877093886, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047829480418102185, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.31810486453173564, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 356, + "max_stable_success_frames": 356, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3181271433955519, + -0.3208579387624342, + 0.8515396060500652 + ], + "target_position": [ + 0.3097719094346678, + -0.3223515753184869, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008487690186540048, + "xy_threshold": 0.08, + "gripper_dist": 0.18500647721089417, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396060500652, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07535011311683354, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08506167081196502, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1535177887676904, + "release_required_pad_clearance": 0.05253083540598251, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.1312211968056861, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0077214837074279785, + "max_z_decrease": 0.0077214837074279785, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03518976395633674, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0077214837074279785, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021088133917282592, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.0077214837074279785, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007721506628303284, + "max_button_displacement": 0.12, + "button_start": [ + 0.1654718369245528, + -0.37861302495002747, + 0.7768088579177856 + ], + "button_final": [ + 0.1654718369245528, + -0.37861302495002747, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16697077218444153, + -0.37734613548319, + 0.8079844210592402 + ], + "closest_button": [ + 0.16546468436717982, + -0.37862300872802734, + 0.7728500962257385 + ], + "closest_ee_minus_button": [ + 0.0015060878172617198, + 0.0012768732448373288, + 0.03513432483350165 + ], + "button_min_z_position": [ + 0.1654532849788665, + -0.3786161541938782, + 0.7690873742103577 + ], + "min_active_finger_to_button": 0.1442816481411253, + "closest_active_finger": [ + 0.040341027081012726, + -0.44179004430770874, + 0.8102878928184509 + ], + "closest_active_finger_button": [ + 0.1654729098081588, + -0.37861794233322144, + 0.7761046886444092 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12513188272714607, + -0.0631721019744873, + 0.03418320417404175 + ], + "min_contact_pad_to_button": 0.021088133917282592, + "closest_contact_pad": [ + 0.1654532849788665, + -0.3786161541938782, + 0.7901755081276403 + ], + "closest_contact_pad_button": [ + 0.1654532849788665, + -0.3786161541938782, + 0.7690873742103577 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021088133917282592 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 74, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b16e7a6cd6698e42fc5343d7575a08ee372e772608bb5d2c28a1cbd87fd92cd7", + "visual_seed": 4281763749302875800, + "episode_index": 74, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_75_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_75_success.json new file mode 100644 index 0000000000000000000000000000000000000000..50d54ab2e8bbd467a1b6d72a9d164b5ff287c01b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_75_success.json @@ -0,0 +1,700 @@ +{ + "episode": 75, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19386039368056657, + 0.14951625588338757, + 1.163701456108995 + ], + "current_z": 1.163701456108995, + "required_z": 0.8611065676194107, + "initial_z": 0.7611065676194108, + "lift_margin": 0.30259488848958416, + "gripper_z": 1.157822690815703, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18999952658300945, + 0.1451855501863426, + 1.157822690815703 + ], + "object_minus_gripper": [ + 0.003860867097557119, + 0.0043307056970449676, + 0.005878765293291899 + ], + "object_to_gripper_xy": 0.005801836483340156, + "object_to_gripper_z": 0.005878765293291899, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19386039368056657, + 0.1258055967511482, + 1.163701456108995 + ], + "finger_b": [ + 0.18423394623831102, + 0.14951625588338757, + 1.163701456108995 + ], + "finger_midpoint": [ + 0.1890471699594388, + 0.1376609263172679, + 1.163701456108995 + ], + "object_minus_finger_midpoint": [ + 0.004813223721127774, + 0.011855329566119677, + 0.0 + ], + "finger_gap": 0.02559030767387831, + "fingertip_max_gap": 0.09070000381800053, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012795153836939143, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.163701456108995, + "object_top_z": 1.213751900055672, + "finger_top_clearance": 0.050050443946677126, + "fingertip_min_top_clearance": 0.015015133184003137, + "object_projection_between_fingers": 0.8584919738581654, + "object_to_finger_line_xy": 0.008919369663957889, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04785000190900027, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.09506753594046045, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 361, + "max_stable_success_frames": 361, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3113926273523406, + -0.3170487500412502, + 0.8515395741561578 + ], + "target_position": [ + 0.3032363434562146, + -0.3183385167589402, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00825763072438245, + "xy_threshold": 0.08, + "gripper_dist": 0.1873319299012786, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395741561578, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07564446890071906, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08565397622983305, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15503053024032276, + "release_required_pad_clearance": 0.052826988114916526, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6988527006511454, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007615923881530762, + "max_z_decrease": 0.007615923881530762, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03518554513868401, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007615923881530762, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02106434312543759, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007615923881530762, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00761594432642967, + "max_button_displacement": 0.12, + "button_start": [ + 0.1589362621307373, + -0.37459996342658997, + 0.7768088579177856 + ], + "button_final": [ + 0.1589362621307373, + -0.37459996342658997, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16004597953986452, + -0.3733799512699011, + 0.8079946574357856 + ], + "closest_button": [ + 0.15892592072486877, + -0.37460729479789734, + 0.77284836769104 + ], + "closest_ee_minus_button": [ + 0.0011200588149957447, + 0.0012273435279962497, + 0.03514628974474554 + ], + "button_min_z_position": [ + 0.15891879796981812, + -0.3746024966239929, + 0.7691929340362549 + ], + "min_active_finger_to_button": 0.14459917283662058, + "closest_active_finger": [ + 0.0338272824883461, + -0.438582181930542, + 0.8107498288154602 + ], + "closest_active_finger_button": [ + 0.15893757343292236, + -0.3746024966239929, + 0.7766479849815369 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12511029094457626, + -0.06397968530654907, + 0.03410184383392334 + ], + "min_contact_pad_to_button": 0.02106434312543759, + "closest_contact_pad": [ + 0.15891879796981812, + -0.3746024966239929, + 0.7902572771616925 + ], + "closest_contact_pad_button": [ + 0.15891879796981812, + -0.3746024966239929, + 0.7691929340362549 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02106434312543759 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 75, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "88b95c86e76b0ec6986004934ea3afd9a23a523ce1e743be3e8f9798d6981b4a", + "visual_seed": 7346152948066401605, + "episode_index": 75, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_76_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_76_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7016fcaa4e368d5835c145970a0926c6c59a8450 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_76_success.json @@ -0,0 +1,700 @@ +{ + "episode": 76, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.18933143956615098, + 0.1513707418360598, + 1.1632392397679325 + ], + "current_z": 1.1632392397679325, + "required_z": 0.8611069252472795, + "initial_z": 0.7611069252472795, + "lift_margin": 0.30213231452065303, + "gripper_z": 1.1573484274473491, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18562235929789245, + 0.14708278073064396, + 1.1573484274473491 + ], + "object_minus_gripper": [ + 0.00370908026825853, + 0.0042879611054158495, + 0.005890812320583416 + ], + "object_to_gripper_xy": 0.005669557908509612, + "object_to_gripper_z": 0.005890812320583416, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18933143956615098, + 0.1278862594340891, + 1.1632392397679325 + ], + "finger_b": [ + 0.179610143988089, + 0.1513707418360598, + 1.1632392397679325 + ], + "finger_midpoint": [ + 0.18447079177712, + 0.13962850063507445, + 1.1632392397679325 + ], + "object_minus_finger_midpoint": [ + 0.004860647789030975, + 0.011742241200985354, + 0.0 + ], + "finger_gap": 0.025417012047141165, + "fingertip_max_gap": 0.09051031284974131, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012708506023570577, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1632392397679325, + "object_top_z": 1.2131615118143326, + "finger_top_clearance": 0.049922272046400096, + "fingertip_min_top_clearance": 0.014976681613920028, + "object_projection_between_fingers": 0.8537151648109516, + "object_to_finger_line_xy": 0.008982157088485564, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04775515642487066, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.23161494789973727, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 360, + "max_stable_success_frames": 360, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.31550414030074303, + -0.31720599812395206, + 0.8515396085040721 + ], + "target_position": [ + 0.3076638042472368, + -0.3184390398451966, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007936703428895334, + "xy_threshold": 0.08, + "gripper_dist": 0.18544757265872017, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396085040721, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07553422845798917, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08549598229331044, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.153540092261356, + "release_required_pad_clearance": 0.052747991146655224, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5467952980384916, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0074269771575927734, + "max_z_decrease": 0.0074269771575927734, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03516590801237592, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0074269771575927734, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021121494935658066, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0074269771575927734, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0074269956027406825, + "max_button_displacement": 0.12, + "button_start": [ + 0.16336372494697565, + -0.3747004866600037, + 0.7768088579177856 + ], + "button_final": [ + 0.16336372494697565, + -0.3747004866600037, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16477233386222181, + -0.37376665037587864, + 0.8076009076733079 + ], + "closest_button": [ + 0.163351908326149, + -0.3747037351131439, + 0.7724761962890625 + ], + "closest_ee_minus_button": [ + 0.001420425536072828, + 0.0009370847372652813, + 0.035124711384245444 + ], + "button_min_z_position": [ + 0.1633476763963699, + -0.3747045397758484, + 0.7693818807601929 + ], + "min_active_finger_to_button": 0.14446652580821484, + "closest_active_finger": [ + 0.03722477704286575, + -0.4362160563468933, + 0.8106378316879272 + ], + "closest_active_finger_button": [ + 0.16336658596992487, + -0.3747033178806305, + 0.776359498500824 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12614180892705912, + -0.06151273846626282, + 0.03427833318710327 + ], + "min_contact_pad_to_button": 0.021121494935658066, + "closest_contact_pad": [ + 0.1633476763963699, + -0.37508237529643834, + 0.7904999959373674 + ], + "closest_contact_pad_button": [ + 0.1633476763963699, + -0.3747045397758484, + 0.7693818807601929 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00037783552058995307, + 0.021118115177174546 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 76, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5c8b6c9d952d2cb8a82e5ba0f481f09b43e4fa90b2aee1076c5ad03ea44a06e4", + "visual_seed": 5006088932840782279, + "episode_index": 76, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_77_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_77_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b06718f430e1b01961ada8008a5577db22724d4d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_77_success.json @@ -0,0 +1,700 @@ +{ + "episode": 77, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19012881321443087, + 0.15456407259514307, + 1.1621530121571007 + ], + "current_z": 1.1621530121571007, + "required_z": 0.8611067464333451, + "initial_z": 0.7611067464333451, + "lift_margin": 0.3010462657237556, + "gripper_z": 1.1561600587595364, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18644829692992967, + 0.15028813024016544, + 1.1561600587595364 + ], + "object_minus_gripper": [ + 0.003680516284501195, + 0.004275942354977635, + 0.005992953397564227 + ], + "object_to_gripper_xy": 0.005641797864472829, + "object_to_gripper_z": 0.005992953397564227, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19012881321443087, + 0.13112147034629865, + 1.1621530121571007 + ], + "finger_b": [ + 0.18040018058109092, + 0.15456407259514307, + 1.1621530121571007 + ], + "finger_midpoint": [ + 0.1852644968977609, + 0.14284277147072086, + 1.1621530121571007 + ], + "object_minus_finger_midpoint": [ + 0.0048643163166699754, + 0.011721301124422212, + 0.0 + ], + "finger_gap": 0.025381132620748283, + "fingertip_max_gap": 0.09035340769542774, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012690566310374142, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1621530121571007, + "object_top_z": 1.2119956630016384, + "finger_top_clearance": 0.04984265084453776, + "fingertip_min_top_clearance": 0.014952795253361328, + "object_projection_between_fingers": 0.8530797659453166, + "object_to_finger_line_xy": 0.008985590543035151, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04767670384771387, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.19330425254517825, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 358, + "max_stable_success_frames": 358, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3143662099273035, + -0.32298343485855896, + 0.8515396095167458 + ], + "target_position": [ + 0.30607298832465746, + -0.32456283231453803, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008442275811328866, + "xy_threshold": 0.08, + "gripper_dist": 0.1855311830624671, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396095167458, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.075645059803678, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08512730494087449, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15338686484350322, + "release_required_pad_clearance": 0.05256365247043725, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.1938265805936657, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007728397846221924, + "max_z_decrease": 0.007728397846221924, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03518892256356148, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007728397846221924, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.0212192393902693, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007728397846221924, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0077284188094378405, + "max_button_displacement": 0.12, + "button_start": [ + 0.16177292168140409, + -0.3808242976665496, + 0.7768088579177856 + ], + "button_final": [ + 0.16177292168140409, + -0.3808242976665496, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16379256701800948, + -0.38140211201524143, + 0.8044053434199505 + ], + "closest_button": [ + 0.161754235625267, + -0.3808281421661376, + 0.769280195236206 + ], + "closest_ee_minus_button": [ + 0.0020383313927424818, + -0.0005739698491038503, + 0.03512514818374446 + ], + "button_min_z_position": [ + 0.16175532341003415, + -0.3808280825614928, + 0.7690804600715637 + ], + "min_active_finger_to_button": 0.14377142875512025, + "closest_active_finger": [ + 0.023281879723072052, + -0.3633541464805603, + 0.8098984956741333 + ], + "closest_active_finger_button": [ + 0.16177645325660703, + -0.38083007931709284, + 0.7754881978034973 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13849457353353498, + 0.017475932836532537, + 0.034410297870635986 + ], + "min_contact_pad_to_button": 0.0212192393902693, + "closest_contact_pad": [ + 0.16175532341003415, + -0.382756001661756, + 0.7902119353689583 + ], + "closest_contact_pad_button": [ + 0.16175532341003415, + -0.3808280825614928, + 0.7690804600715637 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0019279191002631868, + 0.021131475297394564 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 77, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "95b886c84cf42454adb4e784f837f0017f535e8cd50c6387223a72d60529741d", + "visual_seed": 3633560158281514267, + "episode_index": 77, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_78_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_78_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b805eb93bb9444ce991157e20c4a0f0112fcb130 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_78_success.json @@ -0,0 +1,700 @@ +{ + "episode": 78, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19773102807677384, + 0.14423720064867995, + 1.1622636941746776 + ], + "current_z": 1.1622636941746776, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.3011571861599114, + "gripper_z": 1.1564922222311613, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19374983861616835, + 0.1399115603288965, + 1.1564922222311613 + ], + "object_minus_gripper": [ + 0.003981189460605494, + 0.0043256403197834414, + 0.005771471943516238 + ], + "object_to_gripper_xy": 0.005878863299769136, + "object_to_gripper_z": 0.005771471943516238, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19773102807677384, + 0.12039576554378731, + 1.1622636941746776 + ], + "finger_b": [ + 0.1881828847908957, + 0.14423720064867995, + 1.1622636941746776 + ], + "finger_midpoint": [ + 0.19295695643383476, + 0.13231648309623362, + 1.1622636941746776 + ], + "object_minus_finger_midpoint": [ + 0.004774071642939082, + 0.011920717552446336, + 0.0 + ], + "finger_gap": 0.025682310411418732, + "fingertip_max_gap": 0.09051829764441419, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012841155205709385, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1622636941746776, + "object_top_z": 1.2121978353175071, + "finger_top_clearance": 0.04993414114282957, + "fingertip_min_top_clearance": 0.01498024234284887, + "object_projection_between_fingers": 0.861780386640515, + "object_to_finger_line_xy": 0.008863744533718717, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047759148822207095, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.1715458733799757, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 357, + "max_stable_success_frames": 357, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3135055335254646, + -0.32080999555654377, + 0.8515396709223051 + ], + "target_position": [ + 0.3054806303025185, + -0.3219961712800653, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008112094956589393, + "xy_threshold": 0.08, + "gripper_dist": 0.18602195164548604, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396709223051, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07530178466813595, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0849653951596797, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15452509746256743, + "release_required_pad_clearance": 0.05248269757983985, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.039564651153053354, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007521986961364746, + "max_z_decrease": 0.007521986961364746, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03514072784666599, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007521986961364746, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021178020851742384, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007521986961364746, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007522007676654849, + "max_button_displacement": 0.12, + "button_start": [ + 0.1611805558204651, + -0.37825763225555414, + 0.7768088579177856 + ], + "button_final": [ + 0.1611805558204651, + -0.37825763225555414, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1618470564650132, + -0.37886968892283873, + 0.8080846950604987 + ], + "closest_button": [ + 0.16117623448371887, + -0.3782671988010406, + 0.7729555368423462 + ], + "closest_ee_minus_button": [ + 0.0006708219812943395, + -0.0006024901217981382, + 0.035129158218152545 + ], + "button_min_z_position": [ + 0.16116316616535184, + -0.3782606720924377, + 0.7692868709564209 + ], + "min_active_finger_to_button": 0.14546888699008606, + "closest_active_finger": [ + 0.020724304020404816, + -0.36220085620880127, + 0.8104912638664246 + ], + "closest_active_finger_button": [ + 0.1611829251050949, + -0.37826049327850336, + 0.7762179374694824 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1404586210846901, + 0.016059637069702093, + 0.03427332639694214 + ], + "min_contact_pad_to_button": 0.021178020851742384, + "closest_contact_pad": [ + 0.16116316616535184, + -0.3801520269309846, + 0.7903802667018086 + ], + "closest_contact_pad_button": [ + 0.16116316616535184, + -0.3782606720924377, + 0.7692868709564209 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0018913548385469103, + 0.02109339574538771 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 78, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d2a883c134202f3c37c77c6421288e77f30619587a1ea0b2b41d52bfe6331473", + "visual_seed": 1125925114848410213, + "episode_index": 78, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_79_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_79_success.json new file mode 100644 index 0000000000000000000000000000000000000000..02eae1d39145cd0615f5a402c70492f60fa533cc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_79_success.json @@ -0,0 +1,700 @@ +{ + "episode": 79, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.1944771536508297, + 0.1503832136169889, + 1.163127410868209 + ], + "current_z": 1.163127410868209, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.3020209028534432, + "gripper_z": 1.1573616755533236, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19049911034100414, + 0.1459489392208807, + 1.1573616755533236 + ], + "object_minus_gripper": [ + 0.0039780433098255685, + 0.00443427439610819, + 0.005765735314885445 + ], + "object_to_gripper_xy": 0.00595714847849444, + "object_to_gripper_z": 0.005765735314885445, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1944771536508297, + 0.12667421881273896, + 1.163127410868209 + ], + "finger_b": [ + 0.1845881026333583, + 0.1503832136169889, + 1.163127410868209 + ], + "finger_midpoint": [ + 0.18953262814209398, + 0.13852871621486393, + 1.163127410868209 + ], + "object_minus_finger_midpoint": [ + 0.004944525508735725, + 0.011854497402124964, + 0.0 + ], + "finger_gap": 0.025688708894261357, + "fingertip_max_gap": 0.09069600322336097, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012844354447130685, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.163127410868209, + "object_top_z": 1.2131884260700732, + "finger_top_clearance": 0.05006101520186412, + "fingertip_min_top_clearance": 0.015018304560559269, + "object_projection_between_fingers": 0.8518080269998554, + "object_to_finger_line_xy": 0.009126946011855389, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047848001611680485, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.07881721502023908, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 360, + "max_stable_success_frames": 360, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3191003336603888, + -0.32256141780563624, + 0.851539567938045 + ], + "target_position": [ + 0.3105348390375481, + -0.324286154748631, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008737414700953842, + "xy_threshold": 0.08, + "gripper_dist": 0.18365187183002582, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539567938045, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07559153956147407, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08554033858622744, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15174828558641154, + "release_required_pad_clearance": 0.05277016929311372, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5895011328819497, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007778048515319824, + "max_z_decrease": 0.007778048515319824, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03517389100819366, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007778048515319824, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02109315381038357, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007778048515319824, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0077780694690575, + "max_button_displacement": 0.12, + "button_start": [ + 0.16623476147651675, + -0.3805476129055023, + 0.7768088579177856 + ], + "button_final": [ + 0.16623476147651675, + -0.3805476129055023, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16717658062271762, + -0.3789421724018709, + 0.8079259420865867 + ], + "closest_button": [ + 0.166227325797081, + -0.3805576860904693, + 0.7728019952774048 + ], + "closest_ee_minus_button": [ + 0.0009492548256366251, + 0.0016155136885984134, + 0.03512394680918196 + ], + "button_min_z_position": [ + 0.16621705889701846, + -0.38055115938186646, + 0.7690308094024658 + ], + "min_active_finger_to_button": 0.14463385162094308, + "closest_active_finger": [ + 0.040126875042915344, + -0.4425443708896637, + 0.8108871579170227 + ], + "closest_active_finger_button": [ + 0.16623789072036743, + -0.380550354719162, + 0.776656985282898 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1261110156774521, + -0.06199401617050171, + 0.034230172634124756 + ], + "min_contact_pad_to_button": 0.02109315381038357, + "closest_contact_pad": [ + 0.16621705889701846, + -0.38055115938186646, + 0.7901239632128494 + ], + "closest_contact_pad_button": [ + 0.16621705889701846, + -0.38055115938186646, + 0.7690308094024658 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02109315381038357 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 79, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "671b20de923371cdaf17efa9ed08399f8f2a6fa7fb8aa7f8c02fa20b892da20c", + "visual_seed": 3940554724062705238, + "episode_index": 79, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_7_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_7_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bb5b079dce5db36b621957cd7d023978d81ea995 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_7_success.json @@ -0,0 +1,700 @@ +{ + "episode": 7, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.1913189577324335, + 0.1457881605670438, + 1.1626249451364514 + ], + "current_z": 1.1626249451364514, + "required_z": 0.8611068656426344, + "initial_z": 0.7611068656426344, + "lift_margin": 0.30151807949381704, + "gripper_z": 1.1569460689751578, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18742927539622417, + 0.14128418266963383, + 1.1569460689751578 + ], + "object_minus_gripper": [ + 0.003889682336209316, + 0.004503977897409972, + 0.005678876161293589 + ], + "object_to_gripper_xy": 0.005951087764180286, + "object_to_gripper_z": 0.005678876161293589, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1913189577324335, + 0.1223317000213324, + 1.1626249451364514 + ], + "finger_b": [ + 0.18108991165763683, + 0.1457881605670438, + 1.1626249451364514 + ], + "finger_midpoint": [ + 0.18620443469503517, + 0.1340599302941881, + 1.1626249451364514 + ], + "object_minus_finger_midpoint": [ + 0.005114523037398316, + 0.011728230272855689, + 0.0 + ], + "finger_gap": 0.025589820728813804, + "fingertip_max_gap": 0.09025713485920264, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012794910364406884, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1626249451364514, + "object_top_z": 1.2124483811325366, + "finger_top_clearance": 0.049823435996085186, + "fingertip_min_top_clearance": 0.014947030798825554, + "object_projection_between_fingers": 0.8402150824936898, + "object_to_finger_line_xy": 0.009376275754974947, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04762856742960132, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.09351897634302857, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 352, + "max_stable_success_frames": 352, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.31163298729126987, + -0.3183316606824524, + 0.8515395820070388 + ], + "target_position": [ + 0.3040856372566157, + -0.31928028208803466, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007606732223282431, + "xy_threshold": 0.08, + "gripper_dist": 0.18506533142198706, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395820070388, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.075754334310464, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08539276348069084, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.152569939917967, + "release_required_pad_clearance": 0.052696381740345424, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4476235437541299, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007640659809112549, + "max_z_decrease": 0.007640659809112549, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03518318357598173, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007640659809112549, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021109235285302473, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007640659809112549, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0076406795348260064, + "max_button_displacement": 0.12, + "button_start": [ + 0.15978556871414185, + -0.37554174661636347, + 0.7768088579177856 + ], + "button_final": [ + 0.15978556871414185, + -0.37554174661636347, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16137332639417942, + -0.3743711919841191, + 0.8078715386382332 + ], + "closest_button": [ + 0.15977823734283447, + -0.37555155158042897, + 0.772744357585907 + ], + "closest_ee_minus_button": [ + 0.00159508905134495, + 0.0011803595963098545, + 0.03512718105232626 + ], + "button_min_z_position": [ + 0.15976861119270325, + -0.37554547190666193, + 0.7691681981086731 + ], + "min_active_finger_to_button": 0.14425786660502243, + "closest_active_finger": [ + 0.03357939422130585, + -0.43646007776260376, + 0.8107665777206421 + ], + "closest_active_finger_button": [ + 0.1597878336906433, + -0.3755442798137664, + 0.77654629945755 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12620843946933746, + -0.060915797948837336, + 0.03422027826309204 + ], + "min_contact_pad_to_button": 0.021109235285302473, + "closest_contact_pad": [ + 0.15976861119270325, + -0.37573284960316494, + 0.7902766017415657 + ], + "closest_contact_pad_button": [ + 0.15976861119270325, + -0.37554547190666193, + 0.7691681981086731 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0001873776965030105, + 0.02110840363289257 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 7, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7ed10196661dede4fe900b14d538d4a4b4ebeb975f9f42777fe7d6195469997d", + "visual_seed": 2201728023118083295, + "episode_index": 7, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_80_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_80_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1f42841a40749e63c81b50e522ef14f187ac12ff --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_80_success.json @@ -0,0 +1,700 @@ +{ + "episode": 80, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.1935619205271287, + 0.1502640979960351, + 1.1611972375885116 + ], + "current_z": 1.1611972375885116, + "required_z": 0.8611067464333453, + "initial_z": 0.7611067464333453, + "lift_margin": 0.3000904911551663, + "gripper_z": 1.1553371659629228, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18976155512318887, + 0.14578110611822098, + 1.1553371659629228 + ], + "object_minus_gripper": [ + 0.003800365403939826, + 0.004482991877814119, + 0.00586007162558877 + ], + "object_to_gripper_xy": 0.005877073538761454, + "object_to_gripper_z": 0.00586007162558877, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1935619205271287, + 0.1268941404035524, + 1.1611972375885116 + ], + "finger_b": [ + 0.18332218510210485, + 0.1502640979960351, + 1.1611972375885116 + ], + "finger_midpoint": [ + 0.1884420528146168, + 0.13857911919979377, + 1.1611972375885116 + ], + "object_minus_finger_midpoint": [ + 0.005119867712511911, + 0.011684978796241335, + 0.0 + ], + "finger_gap": 0.025514840768637536, + "fingertip_max_gap": 0.09068476896094516, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012757420384318749, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1611972375885116, + "object_top_z": 1.2111487678926363, + "finger_top_clearance": 0.04995153030412469, + "fingertip_min_top_clearance": 0.01498545909123744, + "object_projection_between_fingers": 0.8389384975014178, + "object_to_finger_line_xy": 0.009378940860771385, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04784238448047258, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3653708599750509, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 357, + "max_stable_success_frames": 357, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3162497950472315, + -0.3155665187007559, + 0.8515395864059988 + ], + "target_position": [ + 0.3088283933234689, + -0.31661315524507566, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0074948416661976295, + "xy_threshold": 0.08, + "gripper_dist": 0.18430112652335964, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395864059988, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07558293491298528, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08573133914436075, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15229815458172988, + "release_required_pad_clearance": 0.05286566957218038, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7732860550824623, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007693767547607422, + "max_z_decrease": 0.007693767547607422, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03516420880240669, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007693767547607422, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02105327543591992, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007693767547607422, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0076937886084703574, + "max_button_displacement": 0.12, + "button_start": [ + 0.16452832520008084, + -0.3728746175765991, + 0.7768088579177856 + ], + "button_final": [ + 0.16452832520008084, + -0.3728746175765991, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1635080909123599, + -0.37194937901669, + 0.8078614880217267 + ], + "closest_button": [ + 0.1645173728466034, + -0.3728823959827423, + 0.7727241516113281 + ], + "closest_ee_minus_button": [ + -0.0010092819342434889, + 0.0009330169660523024, + 0.03513733641039862 + ], + "button_min_z_position": [ + 0.16451045870780942, + -0.37287682294845576, + 0.7691150903701782 + ], + "min_active_finger_to_button": 0.146564807033117, + "closest_active_finger": [ + 0.03731992095708847, + -0.4371872544288635, + 0.8106111884117126 + ], + "closest_active_finger_button": [ + 0.1645282804965973, + -0.3728773891925812, + 0.7765008211135864 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12720835953950882, + -0.06430986523628235, + 0.03411036729812622 + ], + "min_contact_pad_to_button": 0.02105327543591992, + "closest_contact_pad": [ + 0.16451045870780942, + -0.3729651149754667, + 0.7901681806682479 + ], + "closest_contact_pad_button": [ + 0.16451045870780942, + -0.37287682294845576, + 0.7691150903701782 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -8.829202701093886e-05, + 0.021053090298069677 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 80, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7b09722198dd14ab05c1173993147a8976074e2bf5bf3e94198402b7eae0c9b0", + "visual_seed": 5027090543303447519, + "episode_index": 80, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_81_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_81_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a46c52d1b65571842ef212470302cb6817baf83d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_81_success.json @@ -0,0 +1,700 @@ +{ + "episode": 81, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19524704503707122, + 0.14817255993100617, + 1.1636378525565245 + ], + "current_z": 1.1636378525565245, + "required_z": 0.8611068656426344, + "initial_z": 0.7611068656426344, + "lift_margin": 0.30253098691389013, + "gripper_z": 1.1577098418479796, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19149343646439015, + 0.143962188759704, + 1.1577098418479796 + ], + "object_minus_gripper": [ + 0.003753608572681061, + 0.004210371171302157, + 0.005928010708544873 + ], + "object_to_gripper_xy": 0.005640638502602081, + "object_to_gripper_z": 0.005928010708544873, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19524704503707122, + 0.12444349883440246, + 1.1636378525565245 + ], + "finger_b": [ + 0.18592737835699238, + 0.14817255993100617, + 1.1636378525565245 + ], + "finger_midpoint": [ + 0.1905872116970318, + 0.1363080293827043, + 1.1636378525565245 + ], + "object_minus_finger_midpoint": [ + 0.004659833340039415, + 0.01186453054830186, + 0.0 + ], + "finger_gap": 0.02549361738855675, + "fingertip_max_gap": 0.09047271642444851, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012746808694278381, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1636378525565245, + "object_top_z": 1.2135465385082718, + "finger_top_clearance": 0.049908685951747245, + "fingertip_min_top_clearance": 0.014972605785524173, + "object_projection_between_fingers": 0.8663595796966771, + "object_to_finger_line_xy": 0.008674600260959371, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04773635821222426, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.23554137397918137, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 359, + "max_stable_success_frames": 359, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.31881777892769003, + -0.3226623144832822, + 0.8515394970493951 + ], + "target_position": [ + 0.3113057131246687, + -0.3237893904514735, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007596145921913085, + "xy_threshold": 0.08, + "gripper_dist": 0.18642284486510427, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515394970493951, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07534127137271569, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08501675175389571, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1548785086448096, + "release_required_pad_clearance": 0.05250837587694786, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.08846931363038757, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007760047912597656, + "max_z_decrease": 0.007760047912597656, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03511479775030671, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007760047912597656, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021153251273607926, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007760047912597656, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007760070624897554, + "max_button_displacement": 0.12, + "button_start": [ + 0.16700564324855807, + -0.3800508379936218, + 0.7768088579177856 + ], + "button_final": [ + 0.16700564324855807, + -0.3800508379936218, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16793361413417254, + -0.3790023888935473, + 0.8072704086258382 + ], + "closest_button": [ + 0.16699425876140597, + -0.3800547122955322, + 0.7721839547157288 + ], + "closest_ee_minus_button": [ + 0.0009393553727665704, + 0.0010523234019849115, + 0.03508645391010945 + ], + "button_min_z_position": [ + 0.166987344622612, + -0.38005504012107844, + 0.769048810005188 + ], + "min_active_finger_to_button": 0.14491384914503758, + "closest_active_finger": [ + 0.03995189815759659, + -0.4406313896179199, + 0.811028242111206 + ], + "closest_active_finger_button": [ + 0.16700974106788638, + -0.38005301356315613, + 0.776581346988678 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1270578429102898, + -0.060578376054763794, + 0.034446895122528076 + ], + "min_contact_pad_to_button": 0.021153251273607926, + "closest_contact_pad": [ + 0.166987344622612, + -0.38041067495128184, + 0.7901990715475884 + ], + "closest_contact_pad_button": [ + 0.166987344622612, + -0.38005504012107844, + 0.769048810005188 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0003556348302033996, + 0.021150261542400406 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 81, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0241a733b943b4e36bc77a8ee49f25ddefabbd8b5824aba75960c6a29f63a302", + "visual_seed": 8400244788227616712, + "episode_index": 81, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_82_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_82_success.json new file mode 100644 index 0000000000000000000000000000000000000000..97739bf966ebe00959b9671e6871bdde16e0069f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_82_success.json @@ -0,0 +1,700 @@ +{ + "episode": 82, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19327020072963833, + 0.14724222859851113, + 1.1608127417835106 + ], + "current_z": 1.1608127417835106, + "required_z": 0.8611065676194107, + "initial_z": 0.7611065676194108, + "lift_margin": 0.29970617416409984, + "gripper_z": 1.1549139734246128, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18948607055034383, + 0.1429510329829825, + 1.1549139734246128 + ], + "object_minus_gripper": [ + 0.0037841301792944926, + 0.004291195615528626, + 0.005898768358897799 + ], + "object_to_gripper_xy": 0.005721363563398106, + "object_to_gripper_z": 0.005898768358897799, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19327020072963833, + 0.12355918062677525, + 1.1608127417835106 + ], + "finger_b": [ + 0.18373696517063287, + 0.14724222859851113, + 1.1608127417835106 + ], + "finger_midpoint": [ + 0.18850358295013558, + 0.1354007046126432, + 1.1608127417835106 + ], + "object_minus_finger_midpoint": [ + 0.004766617779502741, + 0.011841523985867936, + 0.0 + ], + "finger_gap": 0.025529773627179488, + "fingertip_max_gap": 0.09044997571402699, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012764886813589742, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1608127417835106, + "object_top_z": 1.2107386043036876, + "finger_top_clearance": 0.049925862520177056, + "fingertip_min_top_clearance": 0.014977758756053082, + "object_projection_between_fingers": 0.8605602098119604, + "object_to_finger_line_xy": 0.008843637956484617, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0477249878570135, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.2012777569954027, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 357, + "max_stable_success_frames": 357, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.31221495308579816, + -0.31964270883639184, + 0.8515395108575022 + ], + "target_position": [ + 0.30398199641594553, + -0.3209948499306854, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008343252427353991, + "xy_threshold": 0.08, + "gripper_dist": 0.18526947455495626, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395108575022, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07516040217315564, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08589201692387625, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1542806841452737, + "release_required_pad_clearance": 0.05294600846193813, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9287197172201447, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007599353790283203, + "max_z_decrease": 0.007599353790283203, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03513197054564178, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007599353790283203, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021115785928766694, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007599353790283203, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007599381142494858, + "max_button_displacement": 0.12, + "button_start": [ + 0.15968191623687744, + -0.37725630402564997, + 0.7768088579177856 + ], + "button_final": [ + 0.15968191623687744, + -0.37725630402564997, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1586648010497697, + -0.37681726846869673, + 0.807860774656387 + ], + "closest_button": [ + 0.15967516601085663, + -0.3772661983966827, + 0.772746205329895 + ], + "closest_ee_minus_button": [ + -0.001010364961086918, + 0.00044892992798595266, + 0.03511456932649193 + ], + "button_min_z_position": [ + 0.15966185927391052, + -0.37725996971130366, + 0.7692095041275024 + ], + "min_active_finger_to_button": 0.14686390858244383, + "closest_active_finger": [ + 0.030271321535110474, + -0.4376642107963562, + 0.8107916116714478 + ], + "closest_active_finger_button": [ + 0.1596830487251282, + -0.3772586286067962, + 0.7765457630157471 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12941172719001773, + -0.06040558218955999, + 0.034245848655700684 + ], + "min_contact_pad_to_button": 0.021115785928766694, + "closest_contact_pad": [ + 0.15966185927391052, + -0.3783120897768107, + 0.7902990621778092 + ], + "closest_contact_pad_button": [ + 0.15966185927391052, + -0.37725996971130366, + 0.7692095041275024 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001052120065507034, + 0.021089558050306767 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 82, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "496f6e7654a5a610ccf49fbb6b5d64e1a349d5b730fcff76f43588332f8b09ea", + "visual_seed": 7466287470755852773, + "episode_index": 82, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_83_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_83_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d94c48f0bbe3dc6f319d6329046375a4e84d3f38 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_83_success.json @@ -0,0 +1,700 @@ +{ + "episode": 83, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19817964837604074, + 0.1533971360481198, + 1.1627412568682338 + ], + "current_z": 1.1627412568682338, + "required_z": 0.8611065676194111, + "initial_z": 0.7611065676194111, + "lift_margin": 0.30163468924882275, + "gripper_z": 1.1569920120260533, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19415038093532785, + 0.1487615914200292, + 1.1569920120260533 + ], + "object_minus_gripper": [ + 0.004029267440712886, + 0.004635544628090599, + 0.005749244842180534 + ], + "object_to_gripper_xy": 0.006141927230748389, + "object_to_gripper_z": 0.005749244842180534, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19817964837604074, + 0.12977945067565222, + 1.1627412568682338 + ], + "finger_b": [ + 0.1878328190141993, + 0.1533971360481198, + 1.1627412568682338 + ], + "finger_midpoint": [ + 0.19300623369512002, + 0.141588293361886, + 1.1627412568682338 + ], + "object_minus_finger_midpoint": [ + 0.005173414680920724, + 0.011808842686233806, + 0.0 + ], + "finger_gap": 0.025784723000178488, + "fingertip_max_gap": 0.0910212363763189, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012892361500089258, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1627412568682338, + "object_top_z": 1.2127400046415455, + "finger_top_clearance": 0.0499987477733117, + "fingertip_min_top_clearance": 0.01499962433199351, + "object_projection_between_fingers": 0.8389763624491879, + "object_to_finger_line_xy": 0.009477245905216416, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04801061818815945, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.4313798153211412, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 356, + "max_stable_success_frames": 356, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3189335737838195, + -0.31834269562905515, + 0.8515395597384 + ], + "target_position": [ + 0.3106144393033087, + -0.3198856567811165, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00846101221022605, + "xy_threshold": 0.08, + "gripper_dist": 0.18575697966955393, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395597384, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07564934182230522, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08581771604072529, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15365938006308366, + "release_required_pad_clearance": 0.052908858020362645, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8568308816223688, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007540404796600342, + "max_z_decrease": 0.007540404796600342, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035115599417730854, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007540404796600342, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021116504708209163, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007540404796600342, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007540428697055849, + "max_button_displacement": 0.12, + "button_start": [ + 0.16631436347961426, + -0.3761471211910248, + 0.7768088579177856 + ], + "button_final": [ + 0.16631436347961426, + -0.3761471211910248, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16520715954976686, + -0.3760677954897217, + 0.8079920873386903 + ], + "closest_button": [ + 0.16630934178829193, + -0.37615811824798584, + 0.7728939056396484 + ], + "closest_ee_minus_button": [ + -0.001102182238525068, + 9.03227582641497e-05, + 0.035098181699041886 + ], + "button_min_z_position": [ + 0.16629579663276672, + -0.37615108489990234, + 0.7692684531211853 + ], + "min_active_finger_to_button": 0.14711170503142243, + "closest_active_finger": [ + 0.037330225110054016, + -0.43802255392074585, + 0.8104657530784607 + ], + "closest_active_finger_button": [ + 0.16631396114826202, + -0.37615263462066656, + 0.776155948638916 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.128983736038208, + -0.06186991930007929, + 0.03430980443954468 + ], + "min_contact_pad_to_button": 0.021116504708209163, + "closest_contact_pad": [ + 0.16629579663276672, + -0.37745326252035655, + 0.7903447693205738 + ], + "closest_contact_pad_button": [ + 0.16629579663276672, + -0.37615108489990234, + 0.7692684531211853 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0013021776204542035, + 0.021076316199388545 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 83, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "888c418f217b8db70f5f7a4efb7a18df0ccad0355ca5caa13da28dc1129395c9", + "visual_seed": 3993956479041272809, + "episode_index": 83, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_84_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_84_success.json new file mode 100644 index 0000000000000000000000000000000000000000..301188efc0c98edad6240bda9ca35e862c0e1a76 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_84_success.json @@ -0,0 +1,700 @@ +{ + "episode": 84, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19461594279705113, + 0.1489253443904954, + 1.1635567012982277 + ], + "current_z": 1.1635567012982277, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.3024502528881067, + "gripper_z": 1.157670458351802, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19080790099011524, + 0.14453855902723167, + 1.157670458351802 + ], + "object_minus_gripper": [ + 0.0038080418069358912, + 0.004386785363263729, + 0.0058862429464257016 + ], + "object_to_gripper_xy": 0.005809050544341688, + "object_to_gripper_z": 0.0058862429464257016, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19461594279705113, + 0.12531570328345035, + 1.1635567012982277 + ], + "finger_b": [ + 0.18482041159129348, + 0.1489253443904954, + 1.1635567012982277 + ], + "finger_midpoint": [ + 0.1897181771941723, + 0.13712052383697287, + 1.1635567012982277 + ], + "object_minus_finger_midpoint": [ + 0.0048977656028788286, + 0.011804820553522527, + 0.0 + ], + "finger_gap": 0.025561056018999755, + "fingertip_max_gap": 0.09065886804653156, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012780528009499878, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1635567012982277, + "object_top_z": 1.213466559618288, + "finger_top_clearance": 0.04990985832006034, + "fingertip_min_top_clearance": 0.014972957496018069, + "object_projection_between_fingers": 0.8531417324117826, + "object_to_finger_line_xy": 0.009047708203013788, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04782943402326578, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.30747155715532115, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 362, + "max_stable_success_frames": 362, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.31509857964868004, + -0.32108438584171417, + 0.8515395912333689 + ], + "target_position": [ + 0.3068969230715841, + -0.32254835464653464, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008331288932098583, + "xy_threshold": 0.08, + "gripper_dist": 0.1836046061325652, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395912333689, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07547409254813316, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08578704688123011, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15180955008742164, + "release_required_pad_clearance": 0.052893523440615056, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8270834596987693, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007640480995178223, + "max_z_decrease": 0.007640480995178223, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035164638281079984, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007640480995178223, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021183315766581404, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007640480995178223, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007640505419031203, + "max_button_displacement": 0.12, + "button_start": [ + 0.16259685158729548, + -0.37880980968475336, + 0.7768088579177856 + ], + "button_final": [ + 0.16259685158729548, + -0.37880980968475336, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1638914307296735, + -0.3796646784638682, + 0.8080387051901379 + ], + "closest_button": [ + 0.162589743733406, + -0.3788196146488189, + 0.7729083299636841 + ], + "closest_ee_minus_button": [ + 0.0013016869962674815, + -0.0008450638150492851, + 0.03513037522645379 + ], + "button_min_z_position": [ + 0.16257777810096738, + -0.3788128793239593, + 0.7691683769226074 + ], + "min_active_finger_to_button": 0.14482791725631136, + "closest_active_finger": [ + 0.022663183510303497, + -0.3639969229698181, + 0.8110305070877075 + ], + "closest_active_finger_button": [ + 0.16260127723217005, + -0.37881100177764887, + 0.776781439781189 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13993809372186655, + 0.014814078807830755, + 0.034249067306518555 + ], + "min_contact_pad_to_button": 0.021183315766581404, + "closest_contact_pad": [ + 0.16257777810096738, + -0.3808444472065698, + 0.7902540497552453 + ], + "closest_contact_pad_button": [ + 0.16257777810096738, + -0.3788128793239593, + 0.7691683769226074 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0020315678826104966, + 0.021085672832637847 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 84, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "07ee8d8b2e4093337b09a18f51b64e11b9399000a0b9b0b8490576319ded8d9d", + "visual_seed": 593726025070164295, + "episode_index": 84, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_85_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_85_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fe6adf3239d2f464ba1b3e96c40ad28588e3c494 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_85_success.json @@ -0,0 +1,700 @@ +{ + "episode": 85, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19062161057050334, + 0.1469359560616692, + 1.160239000600599 + ], + "current_z": 1.160239000600599, + "required_z": 0.8611066868287001, + "initial_z": 0.7611066868287001, + "lift_margin": 0.29913231377189886, + "gripper_z": 1.1545893179954398, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18673168130471363, + 0.14258455763560185, + 1.1545893179954398 + ], + "object_minus_gripper": [ + 0.00388992926578971, + 0.004351398426067354, + 0.005649682605159079 + ], + "object_to_gripper_xy": 0.005836627275681455, + "object_to_gripper_z": 0.005649682605159079, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19062161057050334, + 0.12328966405999288, + 1.160239000600599 + ], + "finger_b": [ + 0.18085940703495057, + 0.1469359560616692, + 1.160239000600599 + ], + "finger_midpoint": [ + 0.18574050880272697, + 0.13511281006083103, + 1.160239000600599 + ], + "object_minus_finger_midpoint": [ + 0.004881101767776369, + 0.01182314600083817, + 0.0 + ], + "finger_gap": 0.025582176281507028, + "fingertip_max_gap": 0.09029658983791936, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012791088140753514, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.160239000600599, + "object_top_z": 1.2101001175783255, + "finger_top_clearance": 0.04986111697772655, + "fingertip_min_top_clearance": 0.014958335093317931, + "object_projection_between_fingers": 0.8543800955148997, + "object_to_finger_line_xy": 0.009023466684042369, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04764829491895968, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.10852973778995761, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 354, + "max_stable_success_frames": 354, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3199474453920413, + -0.3156144184858548, + 0.851539632769985 + ], + "target_position": [ + 0.3119958832009303, + -0.31698413368741035, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008068671576689564, + "xy_threshold": 0.08, + "gripper_dist": 0.18490806551975272, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539632769985, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07582268025734007, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08552779123761421, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15221403742272566, + "release_required_pad_clearance": 0.05276389561880711, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5774281325227504, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0075495243072509766, + "max_z_decrease": 0.0075495243072509766, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03516995297879439, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0075495243072509766, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021135094630692852, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.0075495243072509766, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007549545640434258, + "max_button_displacement": 0.12, + "button_start": [ + 0.16769580543041226, + -0.3732455968856811, + 0.7768088579177856 + ], + "button_final": [ + 0.16769580543041226, + -0.3732455968856811, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1683951026327528, + -0.37125805353055014, + 0.8073421606301484 + ], + "closest_button": [ + 0.16768372058868405, + -0.3732489645481109, + 0.7722358107566833 + ], + "closest_ee_minus_button": [ + 0.000711382044068759, + 0.0019909110175607703, + 0.03510634987346506 + ], + "button_min_z_position": [ + 0.16767840087413782, + -0.3732499778270721, + 0.7692593336105347 + ], + "min_active_finger_to_button": 0.14465276730304602, + "closest_active_finger": [ + 0.041004739701747894, + -0.4340120553970337, + 0.8105987310409546 + ], + "closest_active_finger_button": [ + 0.16769881546497345, + -0.37324804067611694, + 0.7762364149093628 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12669407576322556, + -0.06076401472091675, + 0.0343623161315918 + ], + "min_contact_pad_to_button": 0.021135094630692852, + "closest_contact_pad": [ + 0.16767840087413782, + -0.3732499778270721, + 0.7903944282412275 + ], + "closest_contact_pad_button": [ + 0.16767840087413782, + -0.3732499778270721, + 0.7692593336105347 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021135094630692852 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 85, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "dde3fdd948735275871ffe398c85dceedf11ad5ff744e1cd2c89b5bf22c2bbaa", + "visual_seed": 3354933471778846357, + "episode_index": 85, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_86_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_86_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f89a3afa73c68d81862ef26459d79535bcb16066 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_86_success.json @@ -0,0 +1,700 @@ +{ + "episode": 86, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.195247525954469, + 0.1454262191793671, + 1.1607483455944672 + ], + "current_z": 1.1607483455944672, + "required_z": 0.8611067464333453, + "initial_z": 0.7611067464333453, + "lift_margin": 0.2996415991611219, + "gripper_z": 1.154920997543663, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1913042154442875, + 0.14088930596904614, + 1.154920997543663 + ], + "object_minus_gripper": [ + 0.003943310510181514, + 0.004536913210320959, + 0.005827348050804204 + ], + "object_to_gripper_xy": 0.0060110963440700915, + "object_to_gripper_z": 0.005827348050804204, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.195247525954469, + 0.12193832766404002, + 1.1607483455944672 + ], + "finger_b": [ + 0.18495384815353544, + 0.1454262191793671, + 1.1607483455944672 + ], + "finger_midpoint": [ + 0.19010068705400224, + 0.13368227342170355, + 1.1607483455944672 + ], + "object_minus_finger_midpoint": [ + 0.005146838900466771, + 0.011743945757663549, + 0.0 + ], + "finger_gap": 0.025644509168732524, + "fingertip_max_gap": 0.09075574172910908, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012822254584366264, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1607483455944672, + "object_top_z": 1.2106709394081174, + "finger_top_clearance": 0.04992259381365027, + "fingertip_min_top_clearance": 0.014976778144095114, + "object_projection_between_fingers": 0.83887892215328, + "object_to_finger_line_xy": 0.00942801384464977, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04787787086455454, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.43151756719242296, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 354, + "max_stable_success_frames": 354, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3136921725751475, + -0.3205030172293479, + 0.8515395586694742 + ], + "target_position": [ + 0.305738640343392, + -0.32169548106000134, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008042427801913436, + "xy_threshold": 0.08, + "gripper_dist": 0.18716331502262168, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395586694742, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07539351303259763, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08636987724919902, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1554920173918569, + "release_required_pad_clearance": 0.05318493862459951, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.393224796330031, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007491648197174072, + "max_z_decrease": 0.007491648197174072, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03521761787924535, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007491648197174072, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021184342284683168, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007491648197174072, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007491669519717353, + "max_button_displacement": 0.12, + "button_start": [ + 0.16143856942653656, + -0.3779569268226623, + 0.7768088579177856 + ], + "button_final": [ + 0.16143856942653656, + -0.3779569268226623, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16350511918558303, + -0.37902162145342894, + 0.80819641499724 + ], + "closest_button": [ + 0.1614309549331665, + -0.3779656589031219, + 0.7730557918548584 + ], + "closest_ee_minus_button": [ + 0.0020741642524165216, + -0.0010559625503070436, + 0.035140623142381644 + ], + "button_min_z_position": [ + 0.16142091155052188, + -0.37795969843864435, + 0.7693172097206116 + ], + "min_active_finger_to_button": 0.1440573192524962, + "closest_active_finger": [ + 0.02216838300228119, + -0.3643437325954437, + 0.8105509877204895 + ], + "closest_active_finger_button": [ + 0.1614400744438172, + -0.3779598176479339, + 0.7763382792472839 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.139271691441536, + 0.013616085052490179, + 0.034212708473205566 + ], + "min_contact_pad_to_button": 0.021184342284683168, + "closest_contact_pad": [ + 0.16142091155052188, + -0.3800833553278984, + 0.7903948386065024 + ], + "closest_contact_pad_button": [ + 0.16142091155052188, + -0.37795969843864435, + 0.7693172097206116 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002123656889254033, + 0.02107762888589082 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 86, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "cbf839fd125ec4716ace5902d32b2084c5ba1398a2ae2ed10a2efd3ddf7063ad", + "visual_seed": 5547205015345831073, + "episode_index": 86, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_87_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_87_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c510baa92a82c4f96af5ac6baf893c8c91ed442b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_87_success.json @@ -0,0 +1,700 @@ +{ + "episode": 87, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.1983408685580037, + 0.15019647092268842, + 1.160790168064623 + ], + "current_z": 1.160790168064623, + "required_z": 0.8611068656426348, + "initial_z": 0.7611068656426349, + "lift_margin": 0.29968330242198826, + "gripper_z": 1.1550571200337556, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19402321997285574, + 0.1455308123164887, + 1.1550571200337556 + ], + "object_minus_gripper": [ + 0.004317648585147965, + 0.0046656586061997185, + 0.005733048030867494 + ], + "object_to_gripper_xy": 0.006356922174640471, + "object_to_gripper_z": 0.005733048030867494, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1983408685580037, + 0.12658397786690295, + 1.160790168064623 + ], + "finger_b": [ + 0.18765509451731888, + 0.15019647092268842, + 1.160790168064623 + ], + "finger_midpoint": [ + 0.1929979815376613, + 0.1383902243947957, + 1.160790168064623 + ], + "object_minus_finger_midpoint": [ + 0.005342887020342413, + 0.011806246527892722, + 0.0 + ], + "finger_gap": 0.02591786247278295, + "fingertip_max_gap": 0.09102399252194884, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012958931236391464, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.160790168064623, + "object_top_z": 1.2110037119169719, + "finger_top_clearance": 0.050213543852348774, + "fingertip_min_top_clearance": 0.015064063155704665, + "object_projection_between_fingers": 0.8300138214028983, + "object_to_finger_line_xy": 0.009735284520331445, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048011996260974424, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.1407305423602413, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 359, + "max_stable_success_frames": 359, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.31680994516239247, + -0.3221846088461673, + 0.8515396170379476 + ], + "target_position": [ + 0.30815693169340364, + -0.3238658945973278, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008814837711016437, + "xy_threshold": 0.08, + "gripper_dist": 0.18653440908098617, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396170379476, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07583848917898647, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08651683086298483, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15382167253398243, + "release_required_pad_clearance": 0.053258415431492415, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5369351847850647, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007476866245269775, + "max_z_decrease": 0.007476866245269775, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035207865019963626, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007476866245269775, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.0210955703432798, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007476866245269775, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007476885378307283, + "max_button_displacement": 0.12, + "button_start": [ + 0.16385686397552487, + -0.380127340555191, + 0.7768088579177856 + ], + "button_final": [ + 0.16385686397552487, + -0.380127340555191, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16258185429624392, + -0.37806889481681394, + 0.8074534112542854 + ], + "closest_button": [ + 0.16384710371494293, + -0.3801294267177581, + 0.7723286747932434 + ], + "closest_ee_minus_button": [ + -0.001265249418699016, + 0.0020605319009441847, + 0.03512473646104197 + ], + "button_min_z_position": [ + 0.16384029388427732, + -0.3801307380199432, + 0.7693319916725159 + ], + "min_active_finger_to_button": 0.14632025155346656, + "closest_active_finger": [ + 0.03488166630268097, + -0.440142422914505, + 0.8105074167251587 + ], + "closest_active_finger_button": [ + 0.16385941207408905, + -0.38013032078742975, + 0.77625972032547 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12897774577140808, + -0.06001210212707525, + 0.03424769639968872 + ], + "min_contact_pad_to_button": 0.0210955703432798, + "closest_contact_pad": [ + 0.16384029388427732, + -0.3801307380199432, + 0.7904275620157957 + ], + "closest_contact_pad_button": [ + 0.16384029388427732, + -0.3801307380199432, + 0.7693319916725159 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.0210955703432798 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 87, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "cb000fe604202ee1ab1e84377ce733c872d60fb333b2f36806665e8ce34f93c3", + "visual_seed": 4745939246478677136, + "episode_index": 87, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_88_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_88_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f934a4741315d282c13fc17311cd360a5d4f92cb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_88_success.json @@ -0,0 +1,700 @@ +{ + "episode": 88, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19056420007206099, + 0.14655817498377097, + 1.1605244389929705 + ], + "current_z": 1.1605244389929705, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.29941793097820457, + "gripper_z": 1.1548347295697154, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18662999928843482, + 0.14215976813384268, + 1.1548347295697154 + ], + "object_minus_gripper": [ + 0.003934200783626163, + 0.004398406849928288, + 0.005689709423255085 + ], + "object_to_gripper_xy": 0.005901179426468983, + "object_to_gripper_z": 0.005689709423255085, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19056420007206099, + 0.12289123799847129, + 1.1605244389929705 + ], + "finger_b": [ + 0.18071531943581384, + 0.14655817498377097, + 1.1605244389929705 + ], + "finger_midpoint": [ + 0.18563975975393743, + 0.13472470649112112, + 1.1605244389929705 + ], + "object_minus_finger_midpoint": [ + 0.004924440318123557, + 0.011833468492649851, + 0.0 + ], + "finger_gap": 0.02563443691702998, + "fingertip_max_gap": 0.09058867566881729, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012817218458514999, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1605244389929705, + "object_top_z": 1.2104598015776071, + "finger_top_clearance": 0.0499353625846366, + "fingertip_min_top_clearance": 0.014980608775390945, + "object_projection_between_fingers": 0.8523864640025723, + "object_to_finger_line_xy": 0.009092957186781278, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047794337834408646, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.24046282659769738, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 355, + "max_stable_success_frames": 355, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.31569989762298994, + -0.3185744588163438, + 0.8515395653463586 + ], + "target_position": [ + 0.30681712881793033, + -0.32022069647425655, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009034029005403423, + "xy_threshold": 0.08, + "gripper_dist": 0.18753242374399887, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395653463586, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07525300590834619, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08586103572127189, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15627794862006036, + "release_required_pad_clearance": 0.05293051786063595, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8987391113215528, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007473289966583252, + "max_z_decrease": 0.007473289966583252, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035136604446410466, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007473289966583252, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021341686945544655, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007473289966583252, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007473313115411169, + "max_button_displacement": 0.12, + "button_start": [ + 0.16251705586910245, + -0.37648215889930725, + 0.7768088579177856 + ], + "button_final": [ + 0.16251705586910245, + -0.37648215889930725, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1627206274180503, + -0.3780998426824581, + 0.8077940228761914 + ], + "closest_button": [ + 0.16250668466091153, + -0.3764879107475281, + 0.7726950645446777 + ], + "closest_ee_minus_button": [ + 0.0002139427571387631, + -0.0016119319349300332, + 0.03509895833151366 + ], + "button_min_z_position": [ + 0.16249883174896235, + -0.37648588418960566, + 0.7693355679512024 + ], + "min_active_finger_to_button": 0.145796932823063, + "closest_active_finger": [ + 0.021841734647750854, + -0.3597003221511841, + 0.8095628619194031 + ], + "closest_active_finger_button": [ + 0.16252075135707855, + -0.37648734450340265, + 0.7751483917236328 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1406790167093277, + 0.016787022352218572, + 0.034414470195770264 + ], + "min_contact_pad_to_button": 0.021341686945544655, + "closest_contact_pad": [ + 0.16249883174896235, + -0.3796142676449343, + 0.7904467218428791 + ], + "closest_contact_pad_button": [ + 0.16249883174896235, + -0.37648588418960566, + 0.7693355679512024 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0031283834553286205, + 0.021111153891676726 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 88, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7d5ca9b2cae7152b67c44328483105374fd84f9dd2e50bb38af07a5335a51754", + "visual_seed": 743940147110038802, + "episode_index": 88, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_89_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_89_success.json new file mode 100644 index 0000000000000000000000000000000000000000..009f28fee19975160442407bf84a2b266384e732 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_89_success.json @@ -0,0 +1,700 @@ +{ + "episode": 89, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.1965894251666786, + 0.15413942925826335, + 1.161906213935631 + ], + "current_z": 1.161906213935631, + "required_z": 0.8611067464333451, + "initial_z": 0.7611067464333451, + "lift_margin": 0.30079946750228603, + "gripper_z": 1.156162799854815, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19250519812517622, + 0.14964214072446164, + 1.156162799854815 + ], + "object_minus_gripper": [ + 0.004084227041502381, + 0.004497288533801713, + 0.005743414080816134 + ], + "object_to_gripper_xy": 0.006075073224480809, + "object_to_gripper_z": 0.005743414080816134, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1965894251666786, + 0.1304621926810849, + 1.161906213935631 + ], + "finger_b": [ + 0.18648041885985894, + 0.15413942925826335, + 1.161906213935631 + ], + "finger_midpoint": [ + 0.19153492201326877, + 0.14230081096967412, + 1.161906213935631 + ], + "object_minus_finger_midpoint": [ + 0.005054503153409828, + 0.011838618288589231, + 0.0 + ], + "finger_gap": 0.02574497116803585, + "fingertip_max_gap": 0.09036481947835662, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012872485584017926, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.161906213935631, + "object_top_z": 1.2117989347080727, + "finger_top_clearance": 0.04989272077244156, + "fingertip_min_top_clearance": 0.0149678162317325, + "object_projection_between_fingers": 0.8458185536501245, + "object_to_finger_line_xy": 0.009297090772582872, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04768240973917831, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.02173763878280169, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 356, + "max_stable_success_frames": 356, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3166848651071038, + -0.32426648790319396, + 0.8515395665032552 + ], + "target_position": [ + 0.30895685976882287, + -0.32540104284286503, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007810843835311954, + "xy_threshold": 0.08, + "gripper_dist": 0.1842331426548249, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395665032552, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07522247411880212, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08643229216328589, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15302301287469441, + "release_required_pad_clearance": 0.05321614608164295, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4542473022043343, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007919073104858398, + "max_z_decrease": 0.007919073104858398, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03519313242639488, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007919073104858398, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.0212207327415066, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007919073104858398, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00791909890808756, + "max_button_displacement": 0.12, + "button_start": [ + 0.16465678811073303, + -0.3816624879837035, + 0.7768088579177856 + ], + "button_final": [ + 0.16465678811073303, + -0.3816624879837035, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16647705398995033, + -0.38287608829305103, + 0.8077810292567598 + ], + "closest_button": [ + 0.16465230286121368, + -0.3816726505756377, + 0.7726558446884155 + ], + "closest_ee_minus_button": [ + 0.0018247511287366458, + -0.0012034377174133248, + 0.035125184568344237 + ], + "button_min_z_position": [ + 0.1646367758512497, + -0.3816653490066527, + 0.7688897848129272 + ], + "min_active_finger_to_button": 0.14430136505070915, + "closest_active_finger": [ + 0.025216415524482727, + -0.3674330711364746, + 0.8107791543006897 + ], + "closest_active_finger_button": [ + 0.16465894877910614, + -0.3816654384136199, + 0.7764847874641418 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1394425332546234, + 0.014232367277145275, + 0.03429436683654785 + ], + "min_contact_pad_to_button": 0.0212207327415066, + "closest_contact_pad": [ + 0.1646367758512497, + -0.38401254964229803, + 0.7899803075011509 + ], + "closest_contact_pad_button": [ + 0.1646367758512497, + -0.3816653490066527, + 0.7688897848129272 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002347200635645308, + 0.021090522688223645 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 89, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d5c6eb7bb66ff9e1f7aadfe425bf5e079b60a98a72184ec97b5277295201c31d", + "visual_seed": 7891202434248009773, + "episode_index": 89, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_8_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_8_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fdfcf087733e9e58c1fe1c9c3de0da1a9cae335b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_8_success.json @@ -0,0 +1,700 @@ +{ + "episode": 8, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19234839883989838, + 0.15124309076419765, + 1.1626365330995414 + ], + "current_z": 1.1626365330995414, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.30153008468942033, + "gripper_z": 1.1567398401725026, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18848730250946752, + 0.14689201923098977, + 1.1567398401725026 + ], + "object_minus_gripper": [ + 0.0038610963304308576, + 0.004351071533207879, + 0.00589669292703876 + ], + "object_to_gripper_xy": 0.00581720623323246, + "object_to_gripper_z": 0.00589669292703876, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19234839883989838, + 0.12755115829311353, + 1.1626365330995414 + ], + "finger_b": [ + 0.18266841998416988, + 0.15124309076419765, + 1.1626365330995414 + ], + "finger_midpoint": [ + 0.18750840941203412, + 0.1393971245286556, + 1.1626365330995414 + ], + "object_minus_finger_midpoint": [ + 0.004839989427864261, + 0.011845966235542044, + 0.0 + ], + "finger_gap": 0.025593156406777194, + "fingertip_max_gap": 0.09090933394479395, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01279657820338859, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1626365330995414, + "object_top_z": 1.2127469245023685, + "finger_top_clearance": 0.05011039140282714, + "fingertip_min_top_clearance": 0.015033117420848107, + "object_projection_between_fingers": 0.8569456343859139, + "object_to_finger_line_xy": 0.00896088789230827, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047954666972396975, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.08462924792800006, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 360, + "max_stable_success_frames": 360, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.320285813107972, + -0.3151864120164236, + 0.8515395609744554 + ], + "target_position": [ + 0.311442945788237, + -0.31703405270780977, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009033829672896376, + "xy_threshold": 0.08, + "gripper_dist": 0.18282946373646342, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395609744554, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07571452184564867, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08559202429391209, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15058583578176374, + "release_required_pad_clearance": 0.05279601214695605, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6391878253597394, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007674098014831543, + "max_z_decrease": 0.007674098014831543, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03519841309257096, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007674098014831543, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021241911070535417, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007674098014831543, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007674117940117606, + "max_button_displacement": 0.12, + "button_start": [ + 0.1671428680419922, + -0.3732955157756805, + 0.7768088579177856 + ], + "button_final": [ + 0.1671428680419922, + -0.3732955157756805, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16875305023619552, + -0.3748455675387853, + 0.8080169356158948 + ], + "closest_button": [ + 0.167134627699852, + -0.373305469751358, + 0.7728894948959351 + ], + "closest_ee_minus_button": [ + 0.0016184225363435334, + -0.001540097787427308, + 0.03512744071995977 + ], + "button_min_z_position": [ + 0.16712570190429688, + -0.3732988536357879, + 0.7691347599029541 + ], + "min_active_finger_to_button": 0.14446927130707793, + "closest_active_finger": [ + 0.027341492474079132, + -0.36095499992370605, + 0.8110087513923645 + ], + "closest_active_finger_button": [ + 0.1671483963727951, + -0.3732962906360625, + 0.7767583131790161 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13980690389871597, + 0.012341290712356456, + 0.03425043821334839 + ], + "min_contact_pad_to_button": 0.021241911070535417, + "closest_contact_pad": [ + 0.16712570190429688, + -0.3758619108687115, + 0.7902214742878291 + ], + "closest_contact_pad_button": [ + 0.16712570190429688, + -0.3732988536357879, + 0.7691347599029541 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0025630572329236045, + 0.02108671438487497 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 8, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "aba230cbd9982038f1f2b983ac842be402e40e7383f5d607028fabe19116ea11", + "visual_seed": 4107104229666927364, + "episode_index": 8, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_90_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_90_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c63f29e15f55ea9b1408a80fdace0b73faa5e2bc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_90_success.json @@ -0,0 +1,700 @@ +{ + "episode": 90, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19125474723448196, + 0.15507043425703743, + 1.161202522654189 + ], + "current_z": 1.161202522654189, + "required_z": 0.8611066868287004, + "initial_z": 0.7611066868287004, + "lift_margin": 0.3000958358254887, + "gripper_z": 1.1551985423818223, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18750714700435467, + 0.15071373361543033, + 1.1551985423818223 + ], + "object_minus_gripper": [ + 0.003747600230127296, + 0.004356700641607092, + 0.006003980272366816 + ], + "object_to_gripper_xy": 0.005746768480235637, + "object_to_gripper_z": 0.006003980272366816, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19125474723448196, + 0.13170664525244102, + 1.161202522654189 + ], + "finger_b": [ + 0.1812615849256597, + 0.15507043425703743, + 1.161202522654189 + ], + "finger_midpoint": [ + 0.18625816608007084, + 0.14338853975473922, + 1.161202522654189 + ], + "object_minus_finger_midpoint": [ + 0.004996581154411123, + 0.011681894502298201, + 0.0 + ], + "finger_gap": 0.02541121660963453, + "fingertip_max_gap": 0.09035171193184136, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01270560830481726, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.161202522654189, + "object_top_z": 1.211046148333033, + "finger_top_clearance": 0.04984362567884393, + "fingertip_min_top_clearance": 0.01495308770365321, + "object_projection_between_fingers": 0.8453482046354165, + "object_to_finger_line_xy": 0.009187995177825809, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04767585596592068, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.29814943392539545, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 347, + "max_stable_success_frames": 347, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.31933926381130046, + -0.3237034245521083, + 0.8515395807118061 + ], + "target_position": [ + 0.3111443822794035, + -0.3251325386061028, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008318560590700195, + "xy_threshold": 0.08, + "gripper_dist": 0.18315444863921745, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395807118061, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07578125187256336, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08510020875528478, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15072759708720443, + "release_required_pad_clearance": 0.05255010437764239, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.1678586924911916, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007445991039276123, + "max_z_decrease": 0.007445991039276123, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03512723432285117, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007445991039276123, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02114004444633129, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007445991039276123, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00744601108377891, + "max_button_displacement": 0.12, + "button_start": [ + 0.16684430837631226, + -0.3813939988613128, + 0.7768088579177856 + ], + "button_final": [ + 0.16684430837631226, + -0.3813939988613128, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16746261451826147, + -0.3801290580542564, + 0.8079551406651875 + ], + "closest_button": [ + 0.16683520376682281, + -0.3813989162445068, + 0.7728564739227295 + ], + "closest_ee_minus_button": [ + 0.0006274107514386562, + 0.0012698581902503836, + 0.035098666742457985 + ], + "button_min_z_position": [ + 0.1668274849653244, + -0.381397932767868, + 0.7693628668785095 + ], + "min_active_finger_to_button": 0.14510448030743747, + "closest_active_finger": [ + 0.03956128656864166, + -0.44198155403137207, + 0.8108643293380737 + ], + "closest_active_finger_button": [ + 0.16684773564338684, + -0.38139683008193964, + 0.7764701247215271 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12728644907474518, + -0.06058472394943243, + 0.03439420461654663 + ], + "min_contact_pad_to_button": 0.02114004444633129, + "closest_contact_pad": [ + 0.1668274849653244, + -0.38151775190129866, + 0.7905025717621669 + ], + "closest_contact_pad_button": [ + 0.1668274849653244, + -0.381397932767868, + 0.7693628668785095 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0001198191334306764, + 0.02113970488365735 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 90, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "cb51f6268b97e41a2139986f81e7699a2ad42d414eb93bdef14e728fe60ed4dd", + "visual_seed": 198587952000682946, + "episode_index": 90, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_91_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_91_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7585e3022f8f0dee768792edad53abf448853892 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_91_success.json @@ -0,0 +1,700 @@ +{ + "episode": 91, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19185727245689235, + 0.14394226735091517, + 1.1613539911432276 + ], + "current_z": 1.1613539911432276, + "required_z": 0.861106567619411, + "initial_z": 0.761106567619411, + "lift_margin": 0.3002474235238166, + "gripper_z": 1.1555963805101528, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18800092408047864, + 0.13940368014249854, + 1.1555963805101528 + ], + "object_minus_gripper": [ + 0.003856348376413715, + 0.004538587208416628, + 0.005757610633074783 + ], + "object_to_gripper_xy": 0.0059556860770755655, + "object_to_gripper_z": 0.005757610633074783, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19185727245689235, + 0.12052848054851299, + 1.1613539911432276 + ], + "finger_b": [ + 0.18154503026391255, + 0.14394226735091517, + 1.1613539911432276 + ], + "finger_midpoint": [ + 0.18670115136040244, + 0.13223537394971407, + 1.1613539911432276 + ], + "object_minus_finger_midpoint": [ + 0.005156121096489913, + 0.011706893401201096, + 0.0 + ], + "finger_gap": 0.025584130852444747, + "fingertip_max_gap": 0.09066829151018169, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012792065426222386, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1613539911432276, + "object_top_z": 1.2113105058666673, + "finger_top_clearance": 0.04995651472343976, + "fingertip_min_top_clearance": 0.014986954417031927, + "object_projection_between_fingers": 0.8375331076960669, + "object_to_finger_line_xy": 0.009437437666094995, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047834145755090846, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3178856195175636, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 352, + "max_stable_success_frames": 352, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.31692893876597783, + -0.3211467776688407, + 0.8515395613874003 + ], + "target_position": [ + 0.3091236287496711, + -0.3222682879783872, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00788547080554341, + "xy_threshold": 0.08, + "gripper_dist": 0.1832393757208925, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395613874003, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07517215666799285, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08664551315812517, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15229755138892598, + "release_required_pad_clearance": 0.05332275657906259, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.6631436594175772, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007755577564239502, + "max_z_decrease": 0.007755577564239502, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035175898220993866, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007755577564239502, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021272502199289806, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007755577564239502, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007755597626618341, + "max_button_displacement": 0.12, + "button_start": [ + 0.16482356190681458, + -0.37852975726127625, + 0.7768088579177856 + ], + "button_final": [ + 0.16482356190681458, + -0.37852975726127625, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16645917126877127, + -0.3798616849430268, + 0.8078599316278879 + ], + "closest_button": [ + 0.16482096910476685, + -0.3785407245159149, + 0.7727470397949219 + ], + "closest_ee_minus_button": [ + 0.0016382021640044264, + -0.0013209604271118836, + 0.035112891832966064 + ], + "button_min_z_position": [ + 0.1648063063621521, + -0.37853342294692993, + 0.7690532803535461 + ], + "min_active_finger_to_button": 0.14448486804318417, + "closest_active_finger": [ + 0.025303266942501068, + -0.3634156584739685, + 0.8103522062301636 + ], + "closest_active_finger_button": [ + 0.16482631862163544, + -0.37853431701660156, + 0.7759920358657837 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13952305167913437, + 0.015118658542633057, + 0.03436017036437988 + ], + "min_contact_pad_to_button": 0.021272502199289806, + "closest_contact_pad": [ + 0.1648063063621521, + -0.38112219001219083, + 0.7901676743751753 + ], + "closest_contact_pad_button": [ + 0.1648063063621521, + -0.37853342294692993, + 0.7690532803535461 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0025887670652608996, + 0.02111439402162918 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 91, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "38c28c4f58fe173068b2632ec69ad336010dd27f17b056c16270d686a2562132", + "visual_seed": 1716004993256172342, + "episode_index": 91, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_92_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_92_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2f194cc9453aa3e2cc42cd11ee516771de2322fb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_92_success.json @@ -0,0 +1,700 @@ +{ + "episode": 92, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.1921422914887283, + 0.14965108270223806, + 1.1596190184276873 + ], + "current_z": 1.1596190184276873, + "required_z": 0.8611068060379898, + "initial_z": 0.7611068060379899, + "lift_margin": 0.2985122123896975, + "gripper_z": 1.1539745752383253, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18821238090878586, + 0.14523504526598963, + 1.1539745752383253 + ], + "object_minus_gripper": [ + 0.003929910579942436, + 0.004416037436248438, + 0.0056444431893620806 + ], + "object_to_gripper_xy": 0.0059114789862344235, + "object_to_gripper_z": 0.0056444431893620806, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1921422914887283, + 0.12592733624165778, + 1.1596190184276873 + ], + "finger_b": [ + 0.18234782772600067, + 0.14965108270223806, + 1.1596190184276873 + ], + "finger_midpoint": [ + 0.18724505960736448, + 0.13778920947194792, + 1.1596190184276873 + ], + "object_minus_finger_midpoint": [ + 0.004897231881363817, + 0.011861873230290143, + 0.0 + ], + "finger_gap": 0.02566608007712281, + "fingertip_max_gap": 0.09094396393258963, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012833040038561404, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1596190184276873, + "object_top_z": 1.2096985471404154, + "finger_top_clearance": 0.05007952871272803, + "fingertip_min_top_clearance": 0.015023858613818407, + "object_projection_between_fingers": 0.8543728877167821, + "object_to_finger_line_xy": 0.009053247489530134, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04797198196629482, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.1238201091509319, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 353, + "max_stable_success_frames": 353, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3176451333016892, + -0.3191207014193453, + 0.851539568528819 + ], + "target_position": [ + 0.3095636918263832, + -0.3204146668061138, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008184377969091525, + "xy_threshold": 0.08, + "gripper_dist": 0.184120773241517, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539568528819, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07529796296867888, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0853643512623991, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15274714474095827, + "release_required_pad_clearance": 0.05268217563119955, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4205785730614375, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00743788480758667, + "max_z_decrease": 0.00743788480758667, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035159947210307775, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00743788480758667, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021086517735474763, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00743788480758667, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007437912138850415, + "max_button_displacement": 0.12, + "button_start": [ + 0.16526362299919128, + -0.37667611241340626, + 0.7768088579177856 + ], + "button_final": [ + 0.16526362299919128, + -0.37667611241340626, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16456741302150815, + -0.37540338927396016, + 0.8081641983555309 + ], + "closest_button": [ + 0.16525721549987793, + -0.37668514251708973, + 0.773034393787384 + ], + "closest_ee_minus_button": [ + -0.0006898024783697776, + 0.0012817532431295686, + 0.03512980456814685 + ], + "button_min_z_position": [ + 0.16524368524551392, + -0.3766791224479674, + 0.769370973110199 + ], + "min_active_finger_to_button": 0.14620098131905637, + "closest_active_finger": [ + 0.037471622228622437, + -0.4389191269874573, + 0.8105078935623169 + ], + "closest_active_finger_button": [ + 0.16526581346988678, + -0.3766786456108092, + 0.7763100266456604 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12779419124126434, + -0.06224048137664806, + 0.034197866916656494 + ], + "min_contact_pad_to_button": 0.021086517735474763, + "closest_contact_pad": [ + 0.16524368524551392, + -0.3766791224479674, + 0.7904574908456737 + ], + "closest_contact_pad_button": [ + 0.16524368524551392, + -0.3766791224479674, + 0.769370973110199 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021086517735474763 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 92, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "361e9ea06d2a0134a682c4a5b4ec4f2881bfd0dac32a2f87799ae42e5b087978", + "visual_seed": 7308163931077756630, + "episode_index": 92, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_93_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_93_success.json new file mode 100644 index 0000000000000000000000000000000000000000..317de9688017f35940a03afc4ead55fcaebbf14c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_93_success.json @@ -0,0 +1,700 @@ +{ + "episode": 93, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19157034375073934, + 0.14868795190078782, + 1.1596506675353275 + ], + "current_z": 1.1596506675353275, + "required_z": 0.8611066272240554, + "initial_z": 0.7611066272240554, + "lift_margin": 0.29854404031127213, + "gripper_z": 1.153880761742563, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1877673570965549, + 0.14423973012673383, + 1.153880761742563 + ], + "object_minus_gripper": [ + 0.003802986654184437, + 0.00444822177405399, + 0.005769905792764485 + ], + "object_to_gripper_xy": 0.005852297364546078, + "object_to_gripper_z": 0.005769905792764485, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19157034375073934, + 0.1252598254418428, + 1.1596506675353275 + ], + "finger_b": [ + 0.1814617870876819, + 0.14868795190078782, + 1.1596506675353275 + ], + "finger_midpoint": [ + 0.18651606541921062, + 0.13697388867131532, + 1.1596506675353275 + ], + "object_minus_finger_midpoint": [ + 0.0050542783315287165, + 0.011714063229472493, + 0.0 + ], + "finger_gap": 0.025515877942696042, + "fingertip_max_gap": 0.09061970577268011, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012757938971348007, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1596506675353275, + "object_top_z": 1.2095565883140331, + "finger_top_clearance": 0.04990592077870559, + "fingertip_min_top_clearance": 0.014971776233611643, + "object_projection_between_fingers": 0.8430514644681724, + "object_to_finger_line_xy": 0.009281457779010585, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04780985288634006, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.2993989755932522, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 350, + "max_stable_success_frames": 350, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3113333877905898, + -0.323241576810712, + 0.8515395874883048 + ], + "target_position": [ + 0.30358530882612633, + -0.32420531708750455, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007807786047316689, + "xy_threshold": 0.08, + "gripper_dist": 0.18694312329044646, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395874883048, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07522969792101121, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08672694667664281, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15563383873476164, + "release_required_pad_clearance": 0.05336347333832141, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.743109350581215, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007731914520263672, + "max_z_decrease": 0.007731914520263672, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03519621405997465, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007731914520263672, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02108176938970374, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007731914520263672, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007731937582294788, + "max_button_displacement": 0.12, + "button_start": [ + 0.15928523242473605, + -0.3804667890071869, + 0.7768088579177856 + ], + "button_final": [ + 0.15928523242473605, + -0.3804667890071869, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1604769021954798, + -0.3788768128808425, + 0.8078231233411769 + ], + "closest_button": [ + 0.15927527844905853, + -0.3804760277271271, + 0.7726837992668152 + ], + "closest_ee_minus_button": [ + 0.001201623746421271, + 0.001599214846284558, + 0.03513932407436171 + ], + "button_min_z_position": [ + 0.15926656126976013, + -0.3804696202278137, + 0.769076943397522 + ], + "min_active_finger_to_button": 0.1443929229774652, + "closest_active_finger": [ + 0.03335683047771454, + -0.44232016801834106, + 0.8106109499931335 + ], + "closest_active_finger_button": [ + 0.15928657352924347, + -0.38046985864639277, + 0.7764707207679749 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12592974305152893, + -0.0618503093719483, + 0.03414022922515869 + ], + "min_contact_pad_to_button": 0.02108176938970374, + "closest_contact_pad": [ + 0.15926656126976013, + -0.3804696202278137, + 0.7901587127872257 + ], + "closest_contact_pad_button": [ + 0.15926656126976013, + -0.3804696202278137, + 0.769076943397522 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02108176938970374 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 93, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "93502ec0438087c0f27b92d75641e198ed17c76bc8a38e32f1fe311f07c3958a", + "visual_seed": 6034821765995046929, + "episode_index": 93, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_94_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_94_success.json new file mode 100644 index 0000000000000000000000000000000000000000..42b71288d785963ad37b4fc955926aaaa66bdcc4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_94_success.json @@ -0,0 +1,700 @@ +{ + "episode": 94, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19705248330046388, + 0.14843481696926542, + 1.160540621949551 + ], + "current_z": 1.160540621949551, + "required_z": 0.8611066868287004, + "initial_z": 0.7611066868287004, + "lift_margin": 0.2994339351208507, + "gripper_z": 1.1547381593512496, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19309107179909538, + 0.14406248942900846, + 1.1547381593512496 + ], + "object_minus_gripper": [ + 0.0039614115013685, + 0.0043723275402569595, + 0.005802462598301528 + ], + "object_to_gripper_xy": 0.005900002474784575, + "object_to_gripper_z": 0.005802462598301528, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19705248330046388, + 0.12462713584567423, + 1.160540621949551 + ], + "finger_b": [ + 0.18740442235079197, + 0.14843481696926542, + 1.160540621949551 + ], + "finger_midpoint": [ + 0.19222845282562792, + 0.1365309764074698, + 1.160540621949551 + ], + "object_minus_finger_midpoint": [ + 0.004824030474835955, + 0.011903840561795609, + 0.0 + ], + "finger_gap": 0.025688338999849413, + "fingertip_max_gap": 0.09047950007699332, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012844169499924719, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.160540621949551, + "object_top_z": 1.2104836744276835, + "finger_top_clearance": 0.049943052478132355, + "fingertip_min_top_clearance": 0.014982915743439705, + "object_projection_between_fingers": 0.8589386521975062, + "object_to_finger_line_xy": 0.008941720932291787, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04773975003849666, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.17922217136543092, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 357, + "max_stable_success_frames": 357, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3188658516949482, + -0.31687433220415495, + 0.8515395919817607 + ], + "target_position": [ + 0.3109552691561707, + -0.31826037374037486, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008031091285929813, + "xy_threshold": 0.08, + "gripper_dist": 0.18432302960871405, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395919817607, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07564531477508127, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08533007778527534, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15219743196266572, + "release_required_pad_clearance": 0.05266503889263767, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3876533093781828, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007629513740539551, + "max_z_decrease": 0.007629513740539551, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0351345669040276, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007629513740539551, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02118979643548937, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007629513740539551, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007629535524094143, + "max_button_displacement": 0.12, + "button_start": [ + 0.16665519773960108, + -0.3745218217372894, + 0.7768088579177856 + ], + "button_final": [ + 0.16665519773960108, + -0.3745218217372894, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1683359554272027, + -0.3742033943725397, + 0.8044030199194792 + ], + "closest_button": [ + 0.16663639247417444, + -0.37452644109725947, + 0.7693110704421997 + ], + "closest_ee_minus_button": [ + 0.0016995629530282552, + 0.0003230467247197777, + 0.03509194947727945 + ], + "button_min_z_position": [ + 0.16663758456706995, + -0.37452653050422663, + 0.7691793441772461 + ], + "min_active_finger_to_button": 0.14418028527997945, + "closest_active_finger": [ + 0.040757916867733, + -0.4357374906539917, + 0.810608446598053 + ], + "closest_active_finger_button": [ + 0.1666600257158279, + -0.3745260834693908, + 0.7761152982711792 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12590210884809488, + -0.061211407184600886, + 0.03449314832687378 + ], + "min_contact_pad_to_button": 0.02118979643548937, + "closest_contact_pad": [ + 0.16663758456706995, + -0.37552738164513305, + 0.7903454909680823 + ], + "closest_contact_pad_button": [ + 0.16663758456706995, + -0.37452653050422663, + 0.7691793441772461 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0010008511409064225, + 0.02116614679083617 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 94, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ff69e6b62c29159dfb1e31d1b66f7424872680b6bb63f6212533f3fe452918bf", + "visual_seed": 8673544959409610860, + "episode_index": 94, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_95_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_95_success.json new file mode 100644 index 0000000000000000000000000000000000000000..50dd4aa69f38afecac3b2a378f2139f10d4c27a8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_95_success.json @@ -0,0 +1,700 @@ +{ + "episode": 95, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.196064231233665, + 0.14870255479354888, + 1.1627529645930124 + ], + "current_z": 1.1627529645930124, + "required_z": 0.8611065676194106, + "initial_z": 0.7611065676194106, + "lift_margin": 0.30164639697360174, + "gripper_z": 1.1570245517082824, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19220025157999168, + 0.14440548964586203, + 1.1570245517082824 + ], + "object_minus_gripper": [ + 0.0038639796536733273, + 0.0042970651476868515, + 0.0057284128847299165 + ], + "object_to_gripper_xy": 0.005778850028116881, + "object_to_gripper_z": 0.0057284128847299165, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.196064231233665, + 0.12494770176432006, + 1.1627529645930124 + ], + "finger_b": [ + 0.1865469648604905, + 0.14870255479354888, + 1.1627529645930124 + ], + "finger_midpoint": [ + 0.19130559804707775, + 0.13682512827893448, + 1.1627529645930124 + ], + "object_minus_finger_midpoint": [ + 0.004758633186587258, + 0.011877426514614403, + 0.0 + ], + "finger_gap": 0.025590455284309033, + "fingertip_max_gap": 0.09045241092173362, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01279522764215451, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1627529645930124, + "object_top_z": 1.2126945379911591, + "finger_top_clearance": 0.049941573398146755, + "fingertip_min_top_clearance": 0.014982472019443992, + "object_projection_between_fingers": 0.8616852728816649, + "object_to_finger_line_xy": 0.008834593266240401, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04772620546086681, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.21126553766347794, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 359, + "max_stable_success_frames": 359, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3176450169181989, + -0.3232257391313662, + 0.8515395643245846 + ], + "target_position": [ + 0.30921096047421215, + -0.32474849416012913, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008570419533370425, + "xy_threshold": 0.08, + "gripper_dist": 0.18471347416157954, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395643245846, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07513336113946585, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08527817343404025, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15391680954876444, + "release_required_pad_clearance": 0.052639086717020125, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3380409122802027, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0077880024909973145, + "max_z_decrease": 0.0077880024909973145, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035143068372386, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0077880024909973145, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02116012734687548, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0077880024909973145, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007788025430433367, + "max_button_displacement": 0.12, + "button_start": [ + 0.16491088271141047, + -0.381009966135025, + 0.7768088579177856 + ], + "button_final": [ + 0.16491088271141047, + -0.381009966135025, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16628423440088266, + -0.38112780381196276, + 0.8076380451718486 + ], + "closest_button": [ + 0.16490095853805536, + -0.38101574778556824, + 0.7725223898887634 + ], + "closest_ee_minus_button": [ + 0.001383275862827299, + -0.00011205602639452472, + 0.035115655283085134 + ], + "button_min_z_position": [ + 0.16489231586456293, + -0.38101351261138916, + 0.7690208554267883 + ], + "min_active_finger_to_button": 0.14483977758662553, + "closest_active_finger": [ + 0.025172464549541473, + -0.3645705282688141, + 0.8103417158126831 + ], + "closest_active_finger_button": [ + 0.16491355001926417, + -0.38101404905319214, + 0.7759818434715271 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1397410854697227, + 0.016443520784378052, + 0.034359872341156006 + ], + "min_contact_pad_to_button": 0.02116012734687548, + "closest_contact_pad": [ + 0.16489231586456293, + -0.3824131618431265, + 0.7901346417135746 + ], + "closest_contact_pad_button": [ + 0.16489231586456293, + -0.38101351261138916, + 0.7690208554267883 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0013996492317373543, + 0.021113786286786285 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 95, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f68802df14bb8551087f14912805b5bb45687e04f822610ec5276a0495748693", + "visual_seed": 4226145477494841667, + "episode_index": 95, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_96_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_96_success.json new file mode 100644 index 0000000000000000000000000000000000000000..931ab79389b56a39b45e245f8c5f8718fb8a6e49 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_96_success.json @@ -0,0 +1,700 @@ +{ + "episode": 96, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.18945812669479684, + 0.14892806840497524, + 1.1619692722574944 + ], + "current_z": 1.1619692722574944, + "required_z": 0.8611066868287003, + "initial_z": 0.7611066868287003, + "lift_margin": 0.30086258542879407, + "gripper_z": 1.1562089780577913, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18577825104667825, + 0.14464850847534055, + 1.1562089780577913 + ], + "object_minus_gripper": [ + 0.0036798756481185857, + 0.004279559929634691, + 0.005760294199703031 + ], + "object_to_gripper_xy": 0.005644122427530347, + "object_to_gripper_z": 0.005760294199703031, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18945812669479684, + 0.12529183404024863, + 1.1619692722574944 + ], + "finger_b": [ + 0.17996964403745963, + 0.14892806840497524, + 1.1619692722574944 + ], + "finger_midpoint": [ + 0.18471388536612823, + 0.13710995122261194, + 1.1619692722574944 + ], + "object_minus_finger_midpoint": [ + 0.0047442413286686025, + 0.011818117182363308, + 0.0 + ], + "finger_gap": 0.02546964621039861, + "fingertip_max_gap": 0.09072872207461322, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012734823105199305, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1619692722574944, + "object_top_z": 1.2119783939069704, + "finger_top_clearance": 0.05000912164947602, + "fingertip_min_top_clearance": 0.015002736494842838, + "object_projection_between_fingers": 0.8612133440741614, + "object_to_finger_line_xy": 0.008805461921292881, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04786436103730661, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3323666339674751, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 360, + "max_stable_success_frames": 360, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.312263011836317, + -0.31595724073010034, + 0.8515396054773914 + ], + "target_position": [ + 0.3043342913089893, + -0.3171522792006806, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008018274511803284, + "xy_threshold": 0.08, + "gripper_dist": 0.18610338986124036, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396054773914, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07516046598873437, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08579866188621126, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15504230668819444, + "release_required_pad_clearance": 0.05289933094310563, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8383624453462868, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0076299309730529785, + "max_z_decrease": 0.0076299309730529785, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035192389727163896, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0076299309730529785, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021102124593083523, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0076299309730529785, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007629950773997688, + "max_button_displacement": 0.12, + "button_start": [ + 0.1600342243909836, + -0.3734137415885925, + 0.7768088579177856 + ], + "button_final": [ + 0.1600342243909836, + -0.3734137415885925, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1616913135405087, + -0.3722260294172752, + 0.8078606788957835 + ], + "closest_button": [ + 0.16002830862998965, + -0.3734241127967834, + 0.7727280259132385 + ], + "closest_ee_minus_button": [ + 0.0016630049105190448, + 0.001198083379508219, + 0.035132652982544976 + ], + "button_min_z_position": [ + 0.1600172072649002, + -0.3734172880649566, + 0.7691789269447327 + ], + "min_active_finger_to_button": 0.14418587683367184, + "closest_active_finger": [ + 0.034233130514621735, + -0.43500688672065735, + 0.810718297958374 + ], + "closest_active_finger_button": [ + 0.16003674268722537, + -0.3734164535999297, + 0.7765183448791504 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12580361217260363, + -0.06159043312072765, + 0.03419995307922363 + ], + "min_contact_pad_to_button": 0.021102124593083523, + "closest_contact_pad": [ + 0.1600172072649002, + -0.37350489084708877, + 0.7902808697011374 + ], + "closest_contact_pad_button": [ + 0.1600172072649002, + -0.3734172880649566, + 0.7691789269447327 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -8.760278213215678e-05, + 0.021101942756404757 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 96, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "12481b31726a8f529a9d661cf2c61dd9dd026aa283e63fdf3bb05b74775bf510", + "visual_seed": 7684177297158209926, + "episode_index": 96, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_97_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_97_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0b34e66c81464118a9a9aefdaf024ff689c3fc7b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_97_success.json @@ -0,0 +1,700 @@ +{ + "episode": 97, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19445829133248074, + 0.1488337335251279, + 1.1602015055129653 + ], + "current_z": 1.1602015055129653, + "required_z": 0.8611066272240555, + "initial_z": 0.7611066272240555, + "lift_margin": 0.2990948782889098, + "gripper_z": 1.1544705214138369, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1904847508810058, + 0.14432634989409784, + 1.1544705214138369 + ], + "object_minus_gripper": [ + 0.003973540451474938, + 0.004507383631030065, + 0.005730984099128422 + ], + "object_to_gripper_xy": 0.006008787807601916, + "object_to_gripper_z": 0.005730984099128422, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19445829133248074, + 0.12528883563541918, + 1.1602015055129653 + ], + "finger_b": [ + 0.18426068943051832, + 0.1488337335251279, + 1.1602015055129653 + ], + "finger_midpoint": [ + 0.18935949038149952, + 0.13706128458027356, + 1.1602015055129653 + ], + "object_minus_finger_midpoint": [ + 0.005098800950981225, + 0.011772448944854352, + 0.0 + ], + "finger_gap": 0.02565839630974076, + "fingertip_max_gap": 0.09026973589313461, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012829198154870373, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1602015055129653, + "object_top_z": 1.2100163828883204, + "finger_top_clearance": 0.04981487737535506, + "fingertip_min_top_clearance": 0.014944463212606517, + "object_projection_between_fingers": 0.8420436498711255, + "object_to_finger_line_xy": 0.009357618948712492, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04763486794656731, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.1512855401839316, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 354, + "max_stable_success_frames": 354, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.31252577740647314, + -0.3196122737865516, + 0.8515395629792396 + ], + "target_position": [ + 0.3051758176665766, + -0.3204913713669422, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00740234562378364, + "xy_threshold": 0.08, + "gripper_dist": 0.18388765225497813, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395629792396, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07538495737160879, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08598735914116266, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15227536468884445, + "release_required_pad_clearance": 0.052993679570581334, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0210481649691148, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007669270038604736, + "max_z_decrease": 0.007669270038604736, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0352133114022778, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007669270038604736, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021063056780346923, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007669270038604736, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007669298693485685, + "max_button_displacement": 0.12, + "button_start": [ + 0.1608757376670838, + -0.3767528235912322, + 0.7768088579177856 + ], + "button_final": [ + 0.1608757376670838, + -0.3767528235912322, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15959572980360323, + -0.37482042317488834, + 0.8073626907598876 + ], + "closest_button": [ + 0.1608633995056153, + -0.37675425410270685, + 0.7722253799438477 + ], + "closest_ee_minus_button": [ + -0.0012676697020120586, + 0.001933830927818514, + 0.03513731081603999 + ], + "button_min_z_position": [ + 0.16085505485534668, + -0.37675625085830683, + 0.7691395878791809 + ], + "min_active_finger_to_button": 0.1463559145239895, + "closest_active_finger": [ + 0.03207428753376007, + -0.43726712465286255, + 0.8106271028518677 + ], + "closest_active_finger_button": [ + 0.16087742149829867, + -0.37675610184669484, + 0.7764478325843811 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1288031339645386, + -0.060511022806167714, + 0.03417927026748657 + ], + "min_contact_pad_to_button": 0.021063056780346923, + "closest_contact_pad": [ + 0.16085505485534668, + -0.37675625085830683, + 0.7902026446595278 + ], + "closest_contact_pad_button": [ + 0.16085505485534668, + -0.37675625085830683, + 0.7691395878791809 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021063056780346923 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 97, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "eaab5d463eaad9bd626949ffb636b609c64d9f0fc72f624fe7f97463f07ce543", + "visual_seed": 4169002182977792232, + "episode_index": 97, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_98_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_98_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0312c51de5b0b70e2804bd7605281e153cba877a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_98_success.json @@ -0,0 +1,700 @@ +{ + "episode": 98, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19605568615871996, + 0.15327621568347366, + 1.160463641941262 + ], + "current_z": 1.160463641941262, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.2993571339264959, + "gripper_z": 1.1543583055387334, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.192177963002166, + 0.1489363368429164, + 1.1543583055387334 + ], + "object_minus_gripper": [ + 0.003877723156553964, + 0.004339878840557254, + 0.006105336402528527 + ], + "object_to_gripper_xy": 0.005819904228558354, + "object_to_gripper_z": 0.006105336402528527, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19605568615871996, + 0.12958621509432788, + 1.160463641941262 + ], + "finger_b": [ + 0.18637757002030508, + 0.15327621568347366, + 1.160463641941262 + ], + "finger_midpoint": [ + 0.1912166280895125, + 0.14143121538890077, + 1.160463641941262 + ], + "object_minus_finger_midpoint": [ + 0.0048390580692074525, + 0.011845000294572888, + 0.0 + ], + "finger_gap": 0.025590663529935557, + "fingertip_max_gap": 0.09074915752901594, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012795331764967784, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.160463641941262, + "object_top_z": 1.2104714335906501, + "finger_top_clearance": 0.05000779164938818, + "fingertip_min_top_clearance": 0.01500233749481642, + "object_projection_between_fingers": 0.8569728234689927, + "object_to_finger_line_xy": 0.008959305676176314, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04787457876450797, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.10161776438648513, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 357, + "max_stable_success_frames": 357, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3152542486701033, + -0.323700687473218, + 0.8515396205478876 + ], + "target_position": [ + 0.306948774006219, + -0.32514376161613223, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00842990939301081, + "xy_threshold": 0.08, + "gripper_dist": 0.18350473767171896, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396205478876, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07564423746183481, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08628562767360752, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15133708328671414, + "release_required_pad_clearance": 0.05314281383680376, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3110257340740237, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007688403129577637, + "max_z_decrease": 0.007688403129577637, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035174891821898945, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007688403129577637, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021069780043810823, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007688403129577637, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007688424232383933, + "max_button_displacement": 0.12, + "button_start": [ + 0.1626486927270889, + -0.38140523433685297, + 0.7768088579177856 + ], + "button_final": [ + 0.1626486927270889, + -0.38140523433685297, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16381636090712456, + -0.38042603063376207, + 0.808037830700613 + ], + "closest_button": [ + 0.16263841092586517, + -0.3814131021499633, + 0.7728965282440186 + ], + "closest_ee_minus_button": [ + 0.0011779499812593908, + 0.0009870715162012544, + 0.035141302456594414 + ], + "button_min_z_position": [ + 0.1626308709383011, + -0.3814078569412231, + 0.769120454788208 + ], + "min_active_finger_to_button": 0.14466927543744734, + "closest_active_finger": [ + 0.03728725016117096, + -0.44503122568130493, + 0.8108853697776794 + ], + "closest_active_finger_button": [ + 0.16265302896499634, + -0.38140600919723505, + 0.7767612934112549 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12536577880382538, + -0.06362521648406988, + 0.03412407636642456 + ], + "min_contact_pad_to_button": 0.021069780043810823, + "closest_contact_pad": [ + 0.1626308709383011, + -0.3814552440872741, + 0.7901901815437442 + ], + "closest_contact_pad_button": [ + 0.1626308709383011, + -0.3814078569412231, + 0.769120454788208 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -4.738714605101446e-05, + 0.0210697267555362 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 98, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2decee7fbce7969678ef94ca568422c09fda8587bfbf68306c44b195a3a8c2e7", + "visual_seed": 7506400986899208340, + "episode_index": 98, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_99_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_99_success.json new file mode 100644 index 0000000000000000000000000000000000000000..eb9abae4647d5c971287d1bd13c99467642806df --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_99_success.json @@ -0,0 +1,700 @@ +{ + "episode": 99, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.1887617785824346, + 0.15367400100344786, + 1.1597081491676637 + ], + "current_z": 1.1597081491676637, + "required_z": 0.8611066868287001, + "initial_z": 0.7611066868287001, + "lift_margin": 0.2986014623389637, + "gripper_z": 1.1540358101068935, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1849293828324269, + 0.14926377050229672, + 1.1540358101068935 + ], + "object_minus_gripper": [ + 0.0038323957500076833, + 0.004410230501151136, + 0.005672339060770248 + ], + "object_to_gripper_xy": 0.005842721134707761, + "object_to_gripper_z": 0.005672339060770248, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1887617785824346, + 0.130196279427146, + 1.1597081491676637 + ], + "finger_b": [ + 0.17875311041323055, + 0.15367400100344786, + 1.1597081491676637 + ], + "finger_midpoint": [ + 0.18375744449783257, + 0.14193514021529693, + 1.1597081491676637 + ], + "object_minus_finger_midpoint": [ + 0.005004334084602019, + 0.011738860788150923, + 0.0 + ], + "finger_gap": 0.02552208551305295, + "fingertip_max_gap": 0.09044758651379148, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012761042756526475, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1597081491676637, + "object_top_z": 1.2095464138935936, + "finger_top_clearance": 0.04983826472592989, + "fingertip_min_top_clearance": 0.014951479417778933, + "object_projection_between_fingers": 0.8462127742413148, + "object_to_finger_line_xy": 0.009206956246032053, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04772379325689574, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.22754283749941462, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 349, + "max_stable_success_frames": 349, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32103071830292634, + -0.3222221058211677, + 0.8515395740936916 + ], + "target_position": [ + 0.3125479054889959, + -0.3237796253997336, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008624614801473645, + "xy_threshold": 0.08, + "gripper_dist": 0.18535105663098927, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395740936916, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07526148570731861, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08624392805982282, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15408165302964438, + "release_required_pad_clearance": 0.053121964029911414, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.270396342110684, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007571160793304443, + "max_z_decrease": 0.007571160793304443, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035196068712203925, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007571160793304443, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02111801024690582, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007571160793304443, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007571184585056751, + "max_button_displacement": 0.12, + "button_start": [ + 0.16824783384799954, + -0.380041092634201, + 0.7768088579177856 + ], + "button_final": [ + 0.16824783384799954, + -0.380041092634201, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1699782812783855, + -0.3798019426057977, + 0.804389439142417 + ], + "closest_button": [ + 0.1682291179895401, + -0.3800442516803741, + 0.7692376971244812 + ], + "closest_ee_minus_button": [ + 0.00174916328884539, + 0.00024230907457639672, + 0.035151742017935805 + ], + "button_min_z_position": [ + 0.1682291179895401, + -0.3800442516803741, + 0.7692376971244812 + ], + "min_active_finger_to_button": 0.1440843629721997, + "closest_active_finger": [ + 0.0291019007563591, + -0.3652224540710449, + 0.8107602000236511 + ], + "closest_active_finger_button": [ + 0.16825026273727411, + -0.3800437748432159, + 0.7764328718185425 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13914836198091501, + 0.014821320772170965, + 0.03432732820510864 + ], + "min_contact_pad_to_button": 0.02111801024690582, + "closest_contact_pad": [ + 0.1682291179895401, + -0.3808396000312296, + 0.7903407248169525 + ], + "closest_contact_pad_button": [ + 0.1682291179895401, + -0.3800442516803741, + 0.7692376971244812 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0007953483508554848, + 0.0211030276924713 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 99, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a8c1de2ec1e78673b36252fafd34fda499f67f7825ea5fa9bfc03845c9b8d540", + "visual_seed": 6093566514779629225, + "episode_index": 99, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_9_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_9_success.json new file mode 100644 index 0000000000000000000000000000000000000000..77e8070dc0c05443648a8a2db9795feeb046c0c8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/episode_9_success.json @@ -0,0 +1,700 @@ +{ + "episode": 9, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19593845081711106, + 0.1487180285708468, + 1.1598747988687923 + ], + "current_z": 1.1598747988687923, + "required_z": 0.8611063888054766, + "initial_z": 0.7611063888054767, + "lift_margin": 0.29876841006331567, + "gripper_z": 1.153901601297823, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19212682701262987, + 0.14445815740453355, + 1.153901601297823 + ], + "object_minus_gripper": [ + 0.00381162380448119, + 0.004259871166313239, + 0.0059731975709693685 + ], + "object_to_gripper_xy": 0.0057162031437375084, + "object_to_gripper_z": 0.0059731975709693685, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19593845081711106, + 0.1250637366358444, + 1.1598747988687923 + ], + "finger_b": [ + 0.18639547540959395, + 0.1487180285708468, + 1.1598747988687923 + ], + "finger_midpoint": [ + 0.19116696311335252, + 0.1368908826033456, + 1.1598747988687923 + ], + "object_minus_finger_midpoint": [ + 0.004771487703758542, + 0.011827145967501201, + 0.0 + ], + "finger_gap": 0.02550674237480739, + "fingertip_max_gap": 0.09071588034438569, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012753371187403701, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1598747988687923, + "object_top_z": 1.2098272549296398, + "finger_top_clearance": 0.04995245606084753, + "fingertip_min_top_clearance": 0.014985736818254224, + "object_projection_between_fingers": 0.8600226981713872, + "object_to_finger_line_xy": 0.008849908110606491, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047857940172192845, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.28198990167083454, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 355, + "max_stable_success_frames": 355, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.31306850015054005, + -0.3211634799440753, + 0.85153958823078 + ], + "target_position": [ + 0.30588514854658816, + -0.32207563969828457, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007241034158405646, + "xy_threshold": 0.08, + "gripper_dist": 0.18586837415140295, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.85153958823078, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07590881046336644, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08603994119241186, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15300950798497595, + "release_required_pad_clearance": 0.05301997059620593, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.071907448910297, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007685720920562744, + "max_z_decrease": 0.007685720920562744, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03521068588732838, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007685720920562744, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.0213196641346523, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007685720920562744, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007685742006826751, + "max_button_displacement": 0.12, + "button_start": [ + 0.16158507764339444, + -0.3783370852470398, + 0.7768088579177856 + ], + "button_final": [ + 0.16158507764339444, + -0.3783370852470398, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16356121784747732, + -0.3798187647303257, + 0.8044441502246771 + ], + "closest_button": [ + 0.1615664362907409, + -0.37834110856056213, + 0.769321084022522 + ], + "closest_ee_minus_button": [ + 0.001994781556736408, + -0.001477656169763586, + 0.03512306620215511 + ], + "button_min_z_position": [ + 0.16156750917434687, + -0.37834101915359497, + 0.7691231369972229 + ], + "min_active_finger_to_button": 0.14370428644326916, + "closest_active_finger": [ + 0.023053325712680817, + -0.36174553632736206, + 0.8093253970146179 + ], + "closest_active_finger_button": [ + 0.16158838570117945, + -0.3783441483974457, + 0.7749241590499878 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13853505998849863, + 0.016598612070083618, + 0.03440123796463013 + ], + "min_contact_pad_to_button": 0.0213196641346523, + "closest_contact_pad": [ + 0.16156750917434687, + -0.38117592372571457, + 0.7902534799873723 + ], + "closest_contact_pad_button": [ + 0.16156750917434687, + -0.37834101915359497, + 0.7691231369972229 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002834904572119601, + 0.021130342990149376 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 9, + "reproducibility": { + "enabled": true, + "action_seed": 6098476093969262866, + "physical_seed": 1610928277203926360, + "layout_id": "layout_00029", + "step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "workflow_spec_digest": "49af23f571e23fc9d164a3c0175820976a41cb74e83e7ab5b51561b56957a5fb", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "62c49c55431825624ead45b66f5a81f06cf199ef685146dcffad798c969a3746", + "visual_seed": 3347340242178107831, + "episode_index": 9, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4958422072777399816, + 1462235376509235589, + 5298651874515874446 + ], + "runtime_workflow_digest": "aa7d4040ec31217e55c3a7266240e5953584633b23315ccac3dd6dabcec00539" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/summary.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..94b657fc0d381d3e289d1e063a2b687b5307e39b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00029/results/summary.json @@ -0,0 +1,9 @@ +{ + "scope": "published_success_subset", + "case": "lab3_heat_2beaker_s03_plr_hta_00029", + "family": "lab3_v1", + "published_episodes": 100, + "published_successes": 100, + "published_failures": 0, + "matched_success_results": 100 +} diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0000.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0000.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2498ddab206ad6419d5f853bff469f07f4754fce --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0000.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0f2608ad30764481cf8c44b9cd22f07b6cd734f3f65a991f2c18c23f39c73b82 +size 6519112 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0001.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0001.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b8d5632865cf132aaeeab7903525d8007509fb4b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0001.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7ec9ab8136037e4b049a47fe982d08cb22f57b49700b489ce6ff6719953b6b4d +size 4781103 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0002.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0002.h5 new file mode 100644 index 0000000000000000000000000000000000000000..227cc34a04c5901871e5f20785ac9b3efc25137a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0002.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cbe027bb2bfc1760414aa43c6b73555c38dd4406b817da3038fd60d7b7e7b084 +size 4805704 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0003.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0003.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3000d3e80ce749e12b192683ece9e8dcbccdfa92 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0003.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:10ad1bf34757b037518297fcc3e8f6eaa036b4dad185586f4d5f045725fd7dc8 +size 5643534 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0004.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0004.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1f89ceaa583ca1da4fa4cd395b1f9d7d9f4b4081 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0004.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b78a77d9f8f117761f614ae47ef5edefdd36e7bab06e857ad5c5233d5bd7d794 +size 4428460 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0005.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0005.h5 new file mode 100644 index 0000000000000000000000000000000000000000..621997de7cc2ebcd6fffab37b4432839251a128e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0005.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f769bfd3de204b518b15173495faa1a2437bfcbd8ee1b5abd0ea35283ae40fbf +size 5491814 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0006.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0006.h5 new file mode 100644 index 0000000000000000000000000000000000000000..88980cbc432f9096f6bdf4223dc103925a91201f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0006.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7dcb408f6f0878e9265f690c09637b22472ba924f0aac2aadaae38fd5e5050e8 +size 6194463 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0007.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0007.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2705d092bc3c0185e80e8bb0f5349a4a457b1aa5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0007.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ca5efe882a9e475dceab4462ac9bbfd190ca152964634e856da5bb9b0f0ef591 +size 4770280 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0008.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0008.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0585090081377d681ed34512f574a1b68887ec0e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0008.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a012734ea8ae6812f2930e071aa80dd08640983bc83897f319c95590ccea1f8f +size 4296791 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0009.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0009.h5 new file mode 100644 index 0000000000000000000000000000000000000000..32ba427dd5df287dcaf2972a635e6c76e2aca0d3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0009.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:de8003964558a8c6b45e361d708e8a5163f88c12730693aa1ed6ae3b5025857e +size 3524017 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0010.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0010.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9486590340d27c91694d9b8eb6add7a9f04dce65 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0010.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8b0f4ce1687077f73723382524885672a6fb69d17686247edbefe0082a010b61 +size 4302650 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0011.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0011.h5 new file mode 100644 index 0000000000000000000000000000000000000000..445bdfea7fb14e06dcac7876976322a2d2b22698 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0011.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:877ed9b3e72aea01786b39b2b7b342fe5bf13f9a42d1255f05b5d8953afc3a8a +size 5392717 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0012.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0012.h5 new file mode 100644 index 0000000000000000000000000000000000000000..96fcd463bd37270e63ad0b47f8b78e82a177cbf7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0012.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a0daf5c85b31f49c815ee315151f66e2994db298c186d0ae42e2306e4073419c +size 4830759 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0013.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0013.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5328a13d27cdd6ac1a3c8c5997cd858b9dc315cd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0013.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:02d488323c964d9869e8b5ba76296304d7f7d6d6d736ba67c44e83c4ebe689c6 +size 3884347 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0014.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0014.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2fbe66699e77979a7250363a6c4f957646e2bd03 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0014.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0b1a71706f63a2df977ebfe7c47218c9e9cc3313dcc1604040b919192cf6775c +size 5984341 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0015.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0015.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e817830e09377510035d2efeb6dbf20669f7e5e5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0015.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:43fb2ee40f4db2f2a72a5aaab5d4ca6a81a3acad4a88c2cd1e1befdeb557e1b2 +size 5901549 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0016.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0016.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4847310f1cc23d16e5e9147fb1e0eca7507655aa --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0016.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c864545afe10171cd1fa54d48e359938ae2f1a1950d68bc4cc9c0718af5ac81e +size 6570472 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0017.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0017.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2111f0fbd89a24fa898a130f0aadda32914e4b01 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0017.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:11955b45a365fe92dc0607af6ad63d3a200be74472141cdb758fd06e316e8789 +size 4331155 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0018.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0018.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0b9291a8172f2ef1cf5910e4475c63297f10e253 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0018.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1424599e3ca62723ece023031fd4c8dcfdc66c3d9b1b6b15311ed07853e2c355 +size 6664241 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0019.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0019.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1b8fbaffad4502025e15c5aaedb60fe9a126ba40 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0019.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5bc32cf8dfebfb2138d7f14c16fa74ebaed7453d1c06c43a19722c1509ec39b6 +size 4296498 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0020.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0020.h5 new file mode 100644 index 0000000000000000000000000000000000000000..42a123ecb90178db34996a3ecc90149c91705df3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0020.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:244e28da5e80a572c1fe0266aeec1e30177efddebe630c7a017073ce9a5410a4 +size 4415039 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0021.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0021.h5 new file mode 100644 index 0000000000000000000000000000000000000000..15c0822b7da82f9bb650778adce400e985520528 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0021.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c4a52e63c2ca0a0e53964963bfb5b3b21193403b7d337c0ea91ed40d4565f2fb +size 4034591 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0022.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0022.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2349d2b6f30a8aa945b9d6bc205d575fd205a174 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0022.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c7a0e0d59d3bc292d23e4b7dfcc756cfbf5032d94ebf772e9eff0b55d93d43ae +size 4921716 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0023.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0023.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ddd32cfbaa43409d1c2684c9e9a641053433f581 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0023.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:25a94becf780ab9454dbe4b28cff82d25ff67225af7faf5a8dae5c014b9e3269 +size 4443611 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0024.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0024.h5 new file mode 100644 index 0000000000000000000000000000000000000000..33e8931b8f6b6947339534c5300d0cfa11e89a9b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0024.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cdd0806cb376b06bdd080e3f346616d3d4147f620d62cb6107513eb5c5b4241f +size 4744471 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0025.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0025.h5 new file mode 100644 index 0000000000000000000000000000000000000000..19dee14c74bf6c82622676812b23a44cd7d13933 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0025.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:01a8c4b88a988638a74577ae3200bf39280955bdffa73df12954b3fd5cc90752 +size 5789113 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0026.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0026.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1f5f3e56fdd538658e05e922840537e787ef9159 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0026.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cc519c73bd88677ed540df1fa4ccf56b4f8bec36c848ba2603515cf9504fab73 +size 4779975 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0027.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0027.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1f516baeb21fde5a8b90b431147e8ff4abe32bb6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0027.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f0e83eec6059473d1f35369db66f52903d6d3c850e78fb259f9c8a34d78e075f +size 4878816 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0028.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0028.h5 new file mode 100644 index 0000000000000000000000000000000000000000..944039d55e930050caa96233dcfc827b18e519cb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0028.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2f5d2cf3defe3039f18a37a9d527bf1a54de231e25ec5c3b7a1f8c3952bb9620 +size 4587855 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0029.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0029.h5 new file mode 100644 index 0000000000000000000000000000000000000000..35952dd0a98d29f90d1ce40fa5d2116e15840ae6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0029.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eab0c1764cf25dc51e722b0505073a9a093c626c8751d01da35fb0e3f4267e51 +size 4274127 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0030.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0030.h5 new file mode 100644 index 0000000000000000000000000000000000000000..655c5796c4bc6577c4d4df4325c418fca62e1706 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0030.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:32275e7dd9e9e882af34b00ee4faf0458f2505b987511c23d28074e421353b6f +size 5261061 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0031.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0031.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e0881f57e7bfdb59e000429dafe9a2b13ae7dcab --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0031.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:336da9a005cb2573d9e3c52b3fad5cb9548cbe90cacfdce9b2e1af5ea9f46ef9 +size 5240897 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0032.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0032.h5 new file mode 100644 index 0000000000000000000000000000000000000000..768da5396feff08c7f271a0dae23e94127aa3782 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0032.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f5c3299ffd1b87c2ef874876efc4f8a7d994ad2b05569422d2e61ce8e20affd1 +size 5331742 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0033.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0033.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5a0474187a81ef66d9671a88eec88ffd8b322461 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0033.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f7096bd90b5a1fdbc07eba24e5b92f26335224c897442a350935784cc7ac716b +size 5199287 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0034.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0034.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f8f4f84401cb94a8883bc8c496f315ed8b38eb7a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0034.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e06c2cd47e8c5c3b6e283ed708c0a1c17cb59726fce6c5db1d6501281d5cb7f9 +size 4441530 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0035.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0035.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e1038a7e169ffcd547d2da5075eabebbba3d034c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0035.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e59812233b185649a88215dd813525045a43cccb1f8f05ad594167036b8abf87 +size 5428487 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0036.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0036.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0d77712b4718a5bceb327b414119eb7fb9ae5167 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0036.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:99faafe167a170c5afd0566db3597cd320371b61369959a4e827636f569c2269 +size 4927899 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0037.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0037.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c43941fd55c822f11c70180fe51df4ce4daed418 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0037.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:68f03ed439c6d77683a67389f2bda3c869ff38b28b0668d3456522732125255c +size 5017069 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0038.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0038.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6f6f4084449f4bfa699f69d0b415645390b80833 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0038.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:660c1b83ffb102ee4e9ddd31168c6d62888f2e6795cdb5e9045cd91d64a8b2a8 +size 4492429 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0039.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0039.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fb88fa9b2b3fb76bdd635ea4bd6e8874868f2f50 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0039.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ad2434504933ec80d7c261315830c34698e9de50a0c890c568402eb7b9ee5481 +size 5112647 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0040.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0040.h5 new file mode 100644 index 0000000000000000000000000000000000000000..087e5c75f604d1e7eda26263eb472ce28f7de452 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0040.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ff510bc43bab6bf196b56037b8e303046164377ff3d0485ad692011cdb493ae6 +size 5162894 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0041.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0041.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d0904e2bef95436f6a232dfb2ae8cbf714dd1283 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0041.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e1b1b66a974c7d2678da508563b1e40c730fbee8f3f31d58ff0f4e579f869b10 +size 4497505 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0042.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0042.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bfe197d4c5954b813139e5fd5f32993cc90fb33f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0042.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2d269a109f60cf09e99b1973c6ddbe0e27a85a291e92f7576bcb441564d05acf +size 4433505 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0043.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0043.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9750bf7a82d627a766483b85e5bed9eaf4272390 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0043.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8aeaa836b686fc6bf0004024a99e8d91c173921eabd09a5fe7fecdf00ee2af24 +size 5658819 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0044.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0044.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6b93e6e696de6ea75a1bc32ff942ab9e7870477e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0044.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3728c90b55dced48024d489d1fffa440ff66064f9ae9daa76499239f027d3b8b +size 6947840 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0045.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0045.h5 new file mode 100644 index 0000000000000000000000000000000000000000..362bb2af17aaa7a7e37188c51c5aae26a242c30d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0045.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ee548f7369e889a779e11417b2b50d721ff2ebf98e1ba0a1ef2b0e2527b8fdcc +size 5207058 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0046.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0046.h5 new file mode 100644 index 0000000000000000000000000000000000000000..82a5ef9ffc81fbbd22a2b0d10ae53f6283fa521e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0046.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:89aa3f324119f022265790d193c56cf5ba350e2fcbcb0554b9f986bff81772a5 +size 4376393 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0047.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0047.h5 new file mode 100644 index 0000000000000000000000000000000000000000..dc41e9092471dafcaf42c43763781c2b6796917f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0047.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:61ef502db1d19673de01a840f515abfb1344c13021f5333393bb9c5c38c2f5f3 +size 5341500 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0048.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0048.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a929fb45356864da78fd2539c5910bd2a2a7bc0a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0048.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:01dd8259a1d64377fbde882ea822bda57fd5ac8fb7893b8f5df756aa81e4f62f +size 4641834 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0049.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0049.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b538512f50ff10f23abe714a77d3daeba304c542 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0049.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:986df37559540aaca523612f7c94ed2a42d62823574fa193224945ae20c14655 +size 5000885 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0050.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0050.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b1630f07804a9ac76164f441f524342842286d6c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0050.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:79608cebcb15e2cbae4003f69a04c51e1539cabd0a3f18271044d590749c59d1 +size 4457987 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0051.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0051.h5 new file mode 100644 index 0000000000000000000000000000000000000000..49e138d275e85cb01a9f660005510e3a57bc7e1c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0051.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2ddd405c962803de0e29eb937f939f3508d7c460185493e73e29cf0bf23e29cc +size 6956781 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0052.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0052.h5 new file mode 100644 index 0000000000000000000000000000000000000000..26eec42203f3a0ceeade60fd8e279e8890875329 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0052.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:91416efd72186ccb4946bd45cd4cf5186a7ec02153c34a9b6f15ae439ea017c8 +size 4442286 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0053.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0053.h5 new file mode 100644 index 0000000000000000000000000000000000000000..eaf7b5612fa7eaf6f515facf030a64c8933a0768 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0053.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:da3af0c53add35b3d97422f551e9a76d42409637a89d35b0158215d3d0158054 +size 4090910 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0054.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0054.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3605739faf6c87745790e8ed07cabd736c698ed4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0054.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f9e04fc24bfd72e476bbf2acd974f779cb5ed90b6b32b22ed3e74607aa88bf5d +size 4118601 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0055.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0055.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0da83a0feb0d297c43779f6604d065733a8df9c7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0055.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:35c9c7d476236bdb704c5fc66c85b7c0a7b9912a24c22984c06d71a5619dae89 +size 4749738 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0056.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0056.h5 new file mode 100644 index 0000000000000000000000000000000000000000..88ce8189354a7f1b9bae8e0d5535dee8dedd8186 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0056.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0ea94c16339bfaa8705e8f2493c204b57522e8b22b52dec42f3625778574f5a0 +size 5809780 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0057.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0057.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8ace8b1c99fd3fd521b7a875c05c7b1dd7d340eb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0057.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9a7fac237e077413924d291910fcfc164412756fbeaea35596a4f2848bfd1b03 +size 4272159 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0058.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0058.h5 new file mode 100644 index 0000000000000000000000000000000000000000..562906500a4d4b0d77001dbc6c64eb5d1cf2418c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0058.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eefc147acbdef5271dbc898b364b14aee1fd04d9ce3a74a1196c8512532783e9 +size 4371774 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0059.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0059.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3a1024e44280d9c4be97354b34b9ac5924690ee1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0059.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d198432a2411a956e2b2b60654dddc202bc31118a9bb88d2c7ed9aa3f7ee0d86 +size 5630574 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0060.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0060.h5 new file mode 100644 index 0000000000000000000000000000000000000000..25dd86bf86820a0cf2d46f6c55ecd38d6f1804a5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0060.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5863e53c868c14e8b41c706258a1ba3bf3e2326e291d017f9d9ee653217497f6 +size 5554385 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0061.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0061.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7e2d2f2319f8e1754cde271a57fe513945eaa580 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0061.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:186fe37956d9f8df036b1b9bc96af04c11dd9945f94e74b75255c6da794df877 +size 5313897 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0062.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0062.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9ffc51233ddb481d2decc47e4ae69ee7f55810d2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0062.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8fc965424cbb8c28114e4edfec5a3d7dbe916e9960b88602d01d180bd688b4c7 +size 5321962 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0063.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0063.h5 new file mode 100644 index 0000000000000000000000000000000000000000..74cb672f952fa12de98aabd83c20c4c516d465c7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0063.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f56513104485ba3f42dbafe5828f2f616cbfe07b7c6fecbbbe86f195686a0344 +size 4224672 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0064.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0064.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f564498069983c769f93358e7c4bc1bcc0d84cbc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0064.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4543110ae0efa9a575470adde71faa0ba152d0cc7c1df79b796f7403922e8115 +size 6707176 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0065.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0065.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1bbd975ec362b698dd9d1934b7e9b3d6750ee482 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0065.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:595d503dfcb8fa81a6781ce69f8b0268d08960094f04368ac1375890cd1c7ce8 +size 3882694 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0066.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0066.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2244d505ade70ca0dfaeb8dc98077c91ab6a6d60 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0066.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6b00179793954977b2a173bc9e8145619166ddfe73b78370743c018569dce275 +size 4139924 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0067.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0067.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3c4867caa0daa30a5ae093c799dfe40d8ad8f71b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0067.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:469bd243a262277fcce3e1116e161414e16615b9eef74a4b2b6c54865c0e1cfe +size 4867406 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0068.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0068.h5 new file mode 100644 index 0000000000000000000000000000000000000000..11019e9cbbcbb59e7ceb829668532accdb38b4e7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0068.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0e6869242a0a540059a92380b9407383f4369cd7222c7e7a6ef5fee0b9121e44 +size 5364905 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0069.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0069.h5 new file mode 100644 index 0000000000000000000000000000000000000000..55fb7f6cf6b5cb514c92578aaee47088354e2a5d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0069.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0b9a8556c4044e8062d2e05227339d869f55d4a88765cbe87a3b47e3bb9f4873 +size 5452459 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0070.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0070.h5 new file mode 100644 index 0000000000000000000000000000000000000000..301a72df853dadc20fac2933f914ba523e3153a2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0070.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:772a8f7f808cbf20abfe9c8fb16085525a58afdeb0c86b48574c0d798392d314 +size 4471349 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0071.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0071.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9ef316558512cff2b98617fc9a9095d8ad5141c9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0071.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:31ae25522d7fc314c0020aedc973719daef6e7f12e8e1aaa3e80ffb9c614a70e +size 6331526 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0072.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0072.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1442187d33fd2058344f74f20ee72dea34fd33d9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0072.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a92381d2fee5cd52c033053c0a811b85cf255ec2924196c88443b1f75e3affcf +size 3961810 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0073.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0073.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c7fa2068617303fa21ae329e2776fe92456f82c5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0073.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d2a4de2143f5f0b7fd5055562314fce2b3ab4ece2126a8cb5d2c5c6d6e9482b3 +size 4618296 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0074.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0074.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8fb31a8e308dc0f77647daafd0ea939d4fea7ac5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0074.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1f7c710743cf8f387f6d90b3a19451220190d10b130b6e81b772ee23388c32c9 +size 4023997 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0075.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0075.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8af1a4060e984aff78af121e31c4698af59fffd4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0075.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:13a0723804de962437667c93f7b25cd4b0dc06ee59db112935c5d062863f6f8d +size 4734640 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0076.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0076.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c48b34d5d00428aef82bce208716d3a0d677bfbd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0076.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eae1003446ce68ea5c5f3274a80f37b5a0ab2a93d37286fef1e134283ef5c15a +size 4936284 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0077.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0077.h5 new file mode 100644 index 0000000000000000000000000000000000000000..118582206fdcd52f47aceb175ad94fcec8e5c070 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0077.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:29b8ca08fdeec20de709ac0181acc68b56f781098b615c343317ab8ace6bed53 +size 4758427 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0078.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0078.h5 new file mode 100644 index 0000000000000000000000000000000000000000..78c8a059878a04e6f40699ab7e9f6f789526e496 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0078.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1fbf3df1a8ec8e10921fcb7bfea0761a9f8a232e8b63aa45d90fa7fd994fef21 +size 5111733 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0079.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0079.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8f548c5b175a077a0fcdecb0e835891b1ef50603 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0079.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7f9606a0b96d3f28659ce1ee2bd4461152a2a9d77756126aea971242235df018 +size 4304175 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0080.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0080.h5 new file mode 100644 index 0000000000000000000000000000000000000000..08f2bee505a8c1a8ecf1b22abdcf207c58eac639 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0080.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d7915b328b95605e41a3a2b72355388dbc697c1ca492d507a322aee1b0e9e1a1 +size 4935315 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0081.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0081.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ced7deae77bff85cd4c822b2ada539928a0c149b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0081.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b7ca2b413cc7d07aa68d68552e3aa0a7cacf5839c0dbc98688a450774a92dd66 +size 4075367 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0082.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0082.h5 new file mode 100644 index 0000000000000000000000000000000000000000..51770d572374c08e7be91fbdb4a3a96fcdb2203e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0082.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e55840b72ae17adf7ac3051aaf40033aa3976612aaf29f652707922cb5ad9479 +size 5244626 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0083.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0083.h5 new file mode 100644 index 0000000000000000000000000000000000000000..602eb24e70056a9fe9741d5689069bef2f181bf9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0083.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:de0a3622cc95648471a32d0c46f37717255c1df0f67aea36c942fb34bb22218c +size 5826410 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0084.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0084.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9873de66f74a8a1fc3826d0cb15b3951e43baecf --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0084.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b5370cf9b6390341a740f440fa2141811e60f75dfa938773b2ac3e49ca2d2c42 +size 4016870 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0085.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0085.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f346e5f4a523a4ac1c429d84db5408a19e21131a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0085.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ad08fcb7a1458f34677ecbbf7863560108936e609a775a6b72c1c4093be3e127 +size 4569262 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0086.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0086.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bd38adb27bb35a3ed7db7388a4c9245d94cc53fc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0086.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:755b31166353d66fd7cde0280646f84efadd8021263df04f475e7c02fc54a97f +size 4364510 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0087.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0087.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d66498a6e73f5ae49c030cbb17e76cb322c0f4ee --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0087.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4550e596c0237fec83f2d9578ba991a77743ea50273c0e295b3d6dbbe4ce0ddd +size 4408389 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0088.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0088.h5 new file mode 100644 index 0000000000000000000000000000000000000000..be5aa151684effdcc3bd38c9ccd26507903ef4b1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0088.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f0a5c49466ac6233ff68592aa5639cf989859ef8cd923885477bd86cab6008ce +size 6091961 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0089.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0089.h5 new file mode 100644 index 0000000000000000000000000000000000000000..72ccb1839b7d51724a5589d491a8d162c301ce56 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0089.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:43ab0621d0a91955af68e52052465c7b199dfe5fbba28967d5f25f7217d256fb +size 4506580 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0090.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0090.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e00ea4c8565d8d51ad93766c9ef19e724998ef1e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0090.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c0c146394140f4fbde74d94989392fcca72aba6e22fc1695126fb93c2bb94259 +size 4620520 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0091.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0091.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e4fc4f21f0324382447744868237eaabc6ec4569 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0091.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bcec0bf9841e117115f4e37f88d7a3a3bb501c1b823d4e4d09ebc8649fb595a0 +size 5513315 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0092.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0092.h5 new file mode 100644 index 0000000000000000000000000000000000000000..937d37cf4025c6592d37889c4f56e4b4f2b79c27 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0092.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ed3f27f032fe2b0ffa3f83ebd9d2c5c32022f685f7a9ad9a795f24e3ee4e8038 +size 4626309 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0093.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0093.h5 new file mode 100644 index 0000000000000000000000000000000000000000..18d0c900d220d45a8ab2009c912f9dcdbebbbbc5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0093.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3db3463e744833a5d20f99f018873613782fd9ee8a2b79dc2d8a3f590ea536ce +size 4637636 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0094.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0094.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8a08edf94950a712426d2485bb1ce1ca062923d1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0094.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ecf127fe76946e7d7bbb0d9f33692125b2ced05c663f82ed65be9f3e339324e8 +size 4437529 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0095.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0095.h5 new file mode 100644 index 0000000000000000000000000000000000000000..72091f6bedc1568ac9b2da91478f22ed3f76a3ba --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0095.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:40e14f3edfd86c7f393aab4561cce1746bfe9029eec3cb53c2012045b4e07687 +size 5127959 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0096.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0096.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d037baea42e41a14799fe54d3455219a6dfe5b30 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0096.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d9ce1c19412e28671f0cea9a3c32e1a6ecfcc61a4630b9023b21a0a772efc9c5 +size 4882019 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0097.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0097.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e9956e0f653ddd3deb72e83b13eb9be983ef66e0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0097.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:92556b02a3dfd241592c159f34df944fbaae1abab8037c711f62e77c21c26a22 +size 4790694 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0098.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0098.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1ef8fbf1ee9ecdc2e599e602febe5dc50609b5a9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0098.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:abf27daa8861922ac83f56803a333264c021e0ddf7e71fd4833444250c344452 +size 7552767 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0099.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0099.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9df8e3305084f02cca938e648248e0698d340a5a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0099.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:01ae6658c0f83acb7e1e092dd8a33b8e444e356af7414dd5b169bbe6bfc52540 +size 5567221 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/meta/episode.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/meta/episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..195d09c1fd16181d105bc63c00c7ad926b95dd37 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/meta/episode.jsonl @@ -0,0 +1,100 @@ +{"episode_index":0,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"} +{"episode_index":1,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":895,"success":true,"robot_type":"ur5e"} +{"episode_index":2,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":897,"success":true,"robot_type":"ur5e"} +{"episode_index":3,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":895,"success":true,"robot_type":"ur5e"} +{"episode_index":4,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":891,"success":true,"robot_type":"ur5e"} +{"episode_index":5,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":894,"success":true,"robot_type":"ur5e"} +{"episode_index":6,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"} +{"episode_index":7,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":901,"success":true,"robot_type":"ur5e"} +{"episode_index":8,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":890,"success":true,"robot_type":"ur5e"} +{"episode_index":9,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":894,"success":true,"robot_type":"ur5e"} +{"episode_index":10,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":894,"success":true,"robot_type":"ur5e"} +{"episode_index":11,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"} +{"episode_index":12,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":890,"success":true,"robot_type":"ur5e"} +{"episode_index":13,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":897,"success":true,"robot_type":"ur5e"} +{"episode_index":14,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":897,"success":true,"robot_type":"ur5e"} +{"episode_index":15,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":895,"success":true,"robot_type":"ur5e"} +{"episode_index":16,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":897,"success":true,"robot_type":"ur5e"} +{"episode_index":17,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":897,"success":true,"robot_type":"ur5e"} +{"episode_index":18,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"} +{"episode_index":19,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":889,"success":true,"robot_type":"ur5e"} +{"episode_index":20,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":895,"success":true,"robot_type":"ur5e"} +{"episode_index":21,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"} +{"episode_index":22,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":894,"success":true,"robot_type":"ur5e"} +{"episode_index":23,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":897,"success":true,"robot_type":"ur5e"} +{"episode_index":24,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":896,"success":true,"robot_type":"ur5e"} +{"episode_index":25,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":892,"success":true,"robot_type":"ur5e"} +{"episode_index":26,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":897,"success":true,"robot_type":"ur5e"} +{"episode_index":27,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":892,"success":true,"robot_type":"ur5e"} +{"episode_index":28,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":894,"success":true,"robot_type":"ur5e"} +{"episode_index":29,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":898,"success":true,"robot_type":"ur5e"} +{"episode_index":30,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":894,"success":true,"robot_type":"ur5e"} +{"episode_index":31,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":897,"success":true,"robot_type":"ur5e"} +{"episode_index":32,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":896,"success":true,"robot_type":"ur5e"} +{"episode_index":33,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":896,"success":true,"robot_type":"ur5e"} +{"episode_index":34,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":892,"success":true,"robot_type":"ur5e"} +{"episode_index":35,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":896,"success":true,"robot_type":"ur5e"} +{"episode_index":36,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":896,"success":true,"robot_type":"ur5e"} +{"episode_index":37,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"} +{"episode_index":38,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":892,"success":true,"robot_type":"ur5e"} +{"episode_index":39,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":887,"success":true,"robot_type":"ur5e"} +{"episode_index":40,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":891,"success":true,"robot_type":"ur5e"} +{"episode_index":41,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":894,"success":true,"robot_type":"ur5e"} +{"episode_index":42,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":898,"success":true,"robot_type":"ur5e"} +{"episode_index":43,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":892,"success":true,"robot_type":"ur5e"} +{"episode_index":44,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":890,"success":true,"robot_type":"ur5e"} +{"episode_index":45,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":894,"success":true,"robot_type":"ur5e"} +{"episode_index":46,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":891,"success":true,"robot_type":"ur5e"} +{"episode_index":47,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":897,"success":true,"robot_type":"ur5e"} +{"episode_index":48,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"} +{"episode_index":49,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":894,"success":true,"robot_type":"ur5e"} +{"episode_index":50,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":894,"success":true,"robot_type":"ur5e"} +{"episode_index":51,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"} +{"episode_index":52,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"} +{"episode_index":53,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":894,"success":true,"robot_type":"ur5e"} +{"episode_index":54,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":895,"success":true,"robot_type":"ur5e"} +{"episode_index":55,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":894,"success":true,"robot_type":"ur5e"} +{"episode_index":56,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":897,"success":true,"robot_type":"ur5e"} +{"episode_index":57,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":891,"success":true,"robot_type":"ur5e"} +{"episode_index":58,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":896,"success":true,"robot_type":"ur5e"} +{"episode_index":59,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":895,"success":true,"robot_type":"ur5e"} +{"episode_index":60,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":897,"success":true,"robot_type":"ur5e"} +{"episode_index":61,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":898,"success":true,"robot_type":"ur5e"} +{"episode_index":62,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":891,"success":true,"robot_type":"ur5e"} +{"episode_index":63,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":896,"success":true,"robot_type":"ur5e"} +{"episode_index":64,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":891,"success":true,"robot_type":"ur5e"} +{"episode_index":65,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":894,"success":true,"robot_type":"ur5e"} +{"episode_index":66,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":895,"success":true,"robot_type":"ur5e"} +{"episode_index":67,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":891,"success":true,"robot_type":"ur5e"} +{"episode_index":68,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":890,"success":true,"robot_type":"ur5e"} +{"episode_index":69,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":896,"success":true,"robot_type":"ur5e"} +{"episode_index":70,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":892,"success":true,"robot_type":"ur5e"} +{"episode_index":71,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":892,"success":true,"robot_type":"ur5e"} +{"episode_index":72,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":888,"success":true,"robot_type":"ur5e"} +{"episode_index":73,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":887,"success":true,"robot_type":"ur5e"} +{"episode_index":74,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":895,"success":true,"robot_type":"ur5e"} +{"episode_index":75,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":895,"success":true,"robot_type":"ur5e"} +{"episode_index":76,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":894,"success":true,"robot_type":"ur5e"} +{"episode_index":77,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"} +{"episode_index":78,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":890,"success":true,"robot_type":"ur5e"} +{"episode_index":79,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":894,"success":true,"robot_type":"ur5e"} +{"episode_index":80,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":892,"success":true,"robot_type":"ur5e"} +{"episode_index":81,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":892,"success":true,"robot_type":"ur5e"} +{"episode_index":82,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":895,"success":true,"robot_type":"ur5e"} +{"episode_index":83,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":896,"success":true,"robot_type":"ur5e"} +{"episode_index":84,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":892,"success":true,"robot_type":"ur5e"} +{"episode_index":85,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":894,"success":true,"robot_type":"ur5e"} +{"episode_index":86,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":892,"success":true,"robot_type":"ur5e"} +{"episode_index":87,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":894,"success":true,"robot_type":"ur5e"} +{"episode_index":88,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":898,"success":true,"robot_type":"ur5e"} +{"episode_index":89,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":894,"success":true,"robot_type":"ur5e"} +{"episode_index":90,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":896,"success":true,"robot_type":"ur5e"} +{"episode_index":91,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":892,"success":true,"robot_type":"ur5e"} +{"episode_index":92,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":895,"success":true,"robot_type":"ur5e"} +{"episode_index":93,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":897,"success":true,"robot_type":"ur5e"} +{"episode_index":94,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"} +{"episode_index":95,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":890,"success":true,"robot_type":"ur5e"} +{"episode_index":96,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":890,"success":true,"robot_type":"ur5e"} +{"episode_index":97,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":891,"success":true,"robot_type":"ur5e"} +{"episode_index":98,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":894,"success":true,"robot_type":"ur5e"} +{"episode_index":99,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":898,"success":true,"robot_type":"ur5e"} diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/meta/randomization_episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..79e2764c29a39caf051173c06d0d00449e8f897c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/meta/randomization_episodes.jsonl @@ -0,0 +1,100 @@ +{"episode_id":"ep_000000","started_at":"2026-09-03T23:28:13","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_0","position":[-0.17465313779158642,-2.0508540328645686,0.71338606911949],"aabb_xy":[[-0.18069015079225112,-2.0568807339335167],[-0.16861612479092167,-2.0448273317956205]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_1","position":[0.3073067597418646,0.7429424082444154,0.71338606911949],"aabb_xy":[[0.2698067593936368,0.7311510126633318],[0.3448067600900923,0.7547338038254989]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_2","position":[0.6394812998307275,0.03854932819875945,0.71338606911949],"aabb_xy":[[0.6321989834540638,-0.05145067541074955],[0.6467636162073911,0.1285493318082684]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_3","position":[0.47663963574934676,-1.250477933531968,0.71338606911949],"aabb_xy":[[0.47022582210616176,-1.2568877537796361],[0.48305344939253164,-1.2440681132842994]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_4","position":[-0.40949500118008136,-0.014816534852368779,0.71338606911949],"aabb_xy":[[-0.4594950024639213,-0.06479538924299087],[-0.35949499989624134,0.03516231953825332]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_5","position":[-0.10872972559437921,-1.5681402073174142,0.71338606911949],"aabb_xy":[[-0.1887297277571417,-1.6480953909435576],[-0.028729723431616713,-1.4881850236912704]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_6","position":[0.7017228408594034,-2.0634000801586274,0.71338606911949],"aabb_xy":[[0.6882763142253601,-2.0768699318117188],[0.7151693674934467,-2.049930228505536]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_7","position":[0.03731626011752642,-1.9549568860098683,0.71338606911949],"aabb_xy":[[0.02215338714058934,-1.9701223433049873],[0.05247913309446351,-1.9397914287147497]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_8","position":[0.6133926317755205,0.49393742788691597,0.71338606911949],"aabb_xy":[[0.54839263077502,0.443151062732241],[0.678392632776021,0.5447237930415909]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_9","position":[-0.4231413152201162,1.5847656462849797,0.71338606911949],"aabb_xy":[[-0.46415925860648705,1.5347656456540222],[-0.3821233718337453,1.6347656469159368]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_10","position":[0.6703803208569841,-1.5878465574612033,0.71338606911949],"aabb_xy":[[0.6638786843489795,-1.5976143794875135],[0.6768819573649887,-1.578078735434894]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_11","position":[-0.10389496605278525,0.772585671446953,0.71338606911949],"aabb_xy":[[-0.1738949681842148,0.7498237058212571],[-0.0338949639213557,0.7953476370726484]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_12","position":[-0.6366678305776761,0.2248351918759126,0.71338606911949],"aabb_xy":[[-0.6541677640116594,0.20733519195567804],[-0.6191678971436927,0.24233519179614713]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_13","position":[-0.021680097972375245,1.09822614054405,0.71338606911949],"aabb_xy":[[-0.11168009769554942,1.07515278800887],[0.06831990175079893,1.1212994930792297]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_14","position":[0.22002418116945366,-0.9351032033457474,0.71338606911949],"aabb_xy":[[0.16002418030864082,-0.9865296333522336],[0.2800241820302664,-0.8836767733392609]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_15","position":[0.4833553467203011,1.6418350240269706,0.71338606911949],"aabb_xy":[[0.43338228118778577,1.5918350242144381],[0.5333284122528167,1.691835023839504]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_16","position":[-0.020270007682522406,1.6989280305550571,0.71338606911949],"aabb_xy":[[-0.04527000684815552,1.6919757848497006],[0.0047299914831107105,1.7058802762604137]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_17","position":[-0.438844633571063,1.0939296188076821,0.71338606911949],"aabb_xy":[[-0.4448111725117988,1.087968474148318],[-0.4328780946303272,1.0998907634670463]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_18","position":[0.4305331670106396,-0.4174060513630513,0.71338606911949],"aabb_xy":[[0.36653316496090754,-0.4575005344523593],[0.49453316906037154,-0.37731156827374335]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_19","position":[-0.2606085814517093,-2.1907039093202174,0.71338606911949],"aabb_xy":[[-0.2906002441855796,-2.2207039086570175],[-0.23061691871783896,-2.1607039099834164]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_20","position":[0.5363650801765223,-1.7505102069719582,0.71338606911949],"aabb_xy":[[0.5262120646223727,-1.7865797485446984],[0.5465180957306714,-1.7144406653992177]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_21","position":[0.13622510282939626,1.1712599372203019,0.71338606911949],"aabb_xy":[[0.128097414636083,1.162346328809594],[0.14435279102270945,1.1801735456310096]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_22","position":[-0.6829735251532231,0.009118620515031317,0.71338606911949],"aabb_xy":[[-0.6938793012407857,-0.07088137588379784],[-0.6720677490656602,0.08911861691386047]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_23","position":[-0.3327075063130167,-1.698742451695388,0.71338606911949],"aabb_xy":[[-0.3702075061300502,-1.7033806630065296],[-0.2952075064959831,-1.694104240384246]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_24","position":[-0.07361386110868784,-0.10466630244057873,0.71338606911949],"aabb_xy":[[-0.09367227272192812,-0.12473138934973625],[-0.053555449495447535,-0.08460121553142118]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_25","position":[-0.19103594422231174,-2.5453864391209096,0.71338606911949],"aabb_xy":[[-0.27103594287919774,-2.559891298045173],[-0.11103594556542573,-2.530881580196647]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_26","position":[-0.35669476704791314,-0.7613237391701171,0.71338606911949],"aabb_xy":[[-0.36856685005941425,-0.8463237388637675],[-0.34482268403641203,-0.6763237394764668]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_27","position":[-0.22103394346445904,-2.359374753778486,0.71338606911949],"aabb_xy":[[-0.23390584696539915,-2.439374754192322],[-0.20816203996351887,-2.2793747533646496]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_28","position":[0.06403820023321538,-2.232774069213694,0.71338606911949],"aabb_xy":[[0.006407731345944521,-2.292774068140404],[0.12166866912048621,-2.172774070286983]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_29","position":[0.47471551586907856,0.6680221229947088,0.71338606911949],"aabb_xy":[[0.4588310226037534,0.6536691826958847],[0.4906000091344037,0.6823750632935328]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6933559080965783,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6834.png","name":"6834"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6834.png","name":"6834"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/369.png","name":"369"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5941.png","name":"5941"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7846.png","name":"7846"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2922.png","name":"2922"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":707.8815253691565,"rotation_z_degrees":74.84048520009698,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.001545213975424807,0.013708914696587454,-0.01456841674215427]},{"name":"camera_2","offset_m":[0.006155547361454981,-0.01445898205164764,0.002557657692581993]},{"name":"camera_3","offset_m":[-0.012409027582500643,-0.007560980216585111,0.00044951729483590913]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005807729080022318,1.3229484510995579e-05,0.0015626650465535275],"end_effector_yaw_offset_degrees":0.7999025635760899},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013376866854643886,-0.0010213051235687595,-0.001436171184295587],"end_effector_yaw_offset_degrees":0.5400763838363163},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016510329776513526,0.0010798297454996729,0.0007172425025369113],"end_effector_yaw_offset_degrees":0.8525964304076887}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004134296967474337,-0.0009274159874686798],"position_m":[0.2747657030325256,-0.11862741598746868,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0034010914195396792,0.002613577216514518],"position_m":[0.22309890858046033,-0.4065864227834855,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0036287417601769427,-0.004553846787694605],"position_m":[0.356228741760177,0.0614461532123054,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0021587995544000427,-0.0024880096825920972],"position_m":[0.3443587995544001,0.3214119903174079,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c4b84815108758d0d5a21cf546cf464e26c512daa430d9a4925312188f76d7d2","episode_index":0,"episode_name":"episode_0000"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0000.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_6834/tex_ceiling_textures_2922/tex_floor_textures_7846/tex_table_textures_369/tex_wall_textures_5941","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":4141702845232641735,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":4141702845232641735,"visual_seed":4141702845232641735,"scene_id":"lab_003","finished_at":"2026-09-03T23:30:47"} +{"episode_id":"ep_000001","started_at":"2026-09-03T23:30:51","dimensions":{"distractor":{"count":31,"items":[{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_0","position":[-0.6442976029452587,1.1993901423635651,0.71338606911949],"aabb_xy":[[-0.6594697722268921,1.1842212854353618],[-0.6291254336636254,1.2145589992917685]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_1","position":[0.25073921433032365,1.1748486323756526,0.71338606911949],"aabb_xy":[[0.24202524528038907,1.152348631716464],[0.259453183380258,1.1973486330348404]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_2","position":[0.1820680628234127,-2.112651235277056,0.71338606911949],"aabb_xy":[[0.13206806146252545,-2.1626291398524717],[0.2320680641842999,-2.0626733307016405]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_3","position":[0.13571621776374332,0.8246461570500632,0.71338606911949],"aabb_xy":[[0.13087262300251337,0.819794504571079],[0.14055981252497332,0.8294978095290473]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_4","position":[-0.3824430339611303,-0.7287095328842976,0.71338606911949],"aabb_xy":[[-0.45244303659771656,-0.748814397880163],[-0.3124430313245439,-0.708604667888432]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_5","position":[-0.34731407453719576,0.028436855809021555,0.71338606911949],"aabb_xy":[[-0.368592082680668,-0.036563146517051504],[-0.3260360663937235,0.09343685813509461]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_6","position":[-0.2545613661636742,-2.146225471178351,0.71338606911949],"aabb_xy":[[-0.3195613688014677,-2.197705069877798],[-0.1895613635258807,-2.094745872478904]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_7","position":[-0.5208391169221069,0.4716609419252302,0.71338606911949],"aabb_xy":[[-0.5296203440693433,0.46288119463670013],[-0.5120578897748708,0.48044068921376043]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_8","position":[0.35723223158442674,-1.8129332516873924,0.71338606911949],"aabb_xy":[[0.31621428819805586,-1.86293325231835],[0.3982501749707976,-1.7629332510564353]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_9","position":[0.5784209888870087,-0.3494420299916303,0.71338606911949],"aabb_xy":[[0.5675805106604936,-0.36662831128227913],[0.5892614671135235,-0.3322557487009815]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_10","position":[0.4316701743472975,1.7955117985492381,0.71338606911949],"aabb_xy":[[0.4141701750692106,1.7781736984828924],[0.44917017362538436,1.8128498986155843]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_11","position":[0.5570696058671438,-2.2830879738624934,0.71338606911949],"aabb_xy":[[0.4720696071750691,-2.3150738372573723],[0.6420696045592184,-2.2511021104676145]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_12","position":[0.45544480615700333,-1.5397661177599535,0.71338606911949],"aabb_xy":[[0.4458131699365737,-1.5494034305396625],[0.46507644237743295,-1.5301288049802446]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_13","position":[-0.39023621044613227,0.6398313986891764,0.71338606911949],"aabb_xy":[[-0.3951355027526957,0.6121544793866076],[-0.3853369181395687,0.6675083179917451]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_14","position":[-0.3303705984180939,-1.1810272611310335,0.71338606911949],"aabb_xy":[[-0.3459263678283591,-1.1965776943754407],[-0.3148148290078286,-1.1654768278866263]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_15","position":[0.27767846896071324,-1.3960436951082296,0.71338606911949],"aabb_xy":[[0.2659102821660558,-1.4810436950134513],[0.2894466557553708,-1.3110436952030082]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_16","position":[-0.3826578726301311,-2.2873678959503163,0.71338606911949],"aabb_xy":[[-0.4201578712057519,-2.300104191613874],[-0.34515787405451026,-2.274631600286758]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_17","position":[0.30288923900808984,-1.6348583657829967,0.71338606911949],"aabb_xy":[[0.2803892389979415,-1.6489545854225998],[0.3253892390182381,-1.6207621461433932]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_18","position":[0.6943617635439785,-0.8394789444220532,0.71338606911949],"aabb_xy":[[0.689726648391745,-0.8433462794992018],[0.6989968786962117,-0.8356116093449045]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_19","position":[0.1509773915052317,-0.6045575365727731,0.71338606911949],"aabb_xy":[[0.12847739169132932,-0.6090321529432539],[0.1734773913191341,-0.6000829202022924]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_20","position":[0.27078499166219494,0.7306637482570695,0.71338606911949],"aabb_xy":[[0.23578499168569916,0.721199132209453],[0.30578499163869083,0.7401283643046862]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_21","position":[0.13536510100096366,-0.9414227487956557,0.71338606911949],"aabb_xy":[[0.12221385502967433,-0.9664227485523423],[0.14851634697225305,-0.9164227490389693]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_22","position":[-0.008806251243185348,-1.509825063189923,0.71338606911949],"aabb_xy":[[-0.01684961116914052,-1.5948250642852893],[-0.0007628913172301761,-1.4248250620945564]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_23","position":[-0.12845978311127826,0.20516604952406148,0.71338606911949],"aabb_xy":[[-0.19845977952124,0.1847281138723797],[-0.05845978670131643,0.22560398517574315]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_24","position":[-0.41700989194145177,0.21770168848910032,0.71338606911949],"aabb_xy":[[-0.42825494751206966,0.20645989076500504],[-0.405764836370834,0.2289434862131956]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_25","position":[0.10550939913666124,-1.1165375289138917,0.71338606911949],"aabb_xy":[[0.05550939877609518,-1.1665175161234946],[0.1555093994972273,-1.0665575417042887]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_26","position":[0.5239678103775118,0.32566983623766976,0.71338606911949],"aabb_xy":[[0.5115004522677762,0.31320451160434626],[0.5364351684872475,0.33813516087099327]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_27","position":[0.6122730021250269,-1.4225000650372197,0.71338606911949],"aabb_xy":[[0.5322730049654516,-1.4340476659950367],[0.6922729992846022,-1.4109524640794027]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_28","position":[-0.03278879727330386,-0.7859801228854053,0.71338606911949],"aabb_xy":[[-0.08260557673813862,-0.8359801213697087],[0.017027982191530906,-0.7359801244011019]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_29","position":[-0.3768173344386646,0.43401981494464303,0.71338606911949],"aabb_xy":[[-0.4262977556526234,0.3700198170317912],[-0.3273369132247058,0.49801981285749486]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_30","position":[0.4824777017493156,1.1062642971069079,0.71338606911949],"aabb_xy":[[0.45251014483949,1.0762642968090224],[0.5124452586591413,1.1362642974047938]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6953444258416736,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2703.png","name":"2703"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2703.png","name":"2703"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3848.png","name":"3848"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9060.png","name":"9060"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4936.png","name":"4936"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5770.png","name":"5770"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":817.540412512174,"rotation_z_degrees":10.95090408539554,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0025479886234742247,-0.010323546949501905,0.005741353289008301]},{"name":"camera_2","offset_m":[0.002296039561398202,-0.015081522141875425,-0.015169591188850005]},{"name":"camera_3","offset_m":[0.0018218756664479807,0.004255990422422071,0.01753993328365373]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017467490694998682,-0.001968063966879569,0.0012202134711719382],"end_effector_yaw_offset_degrees":-0.45192196840168264},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001573205731387542,-0.00033973778810187966,0.0010865164896304404],"end_effector_yaw_offset_degrees":-0.22808167678505953},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0003096033492777763,0.000564428144343852,0.00041835242471863687],"end_effector_yaw_offset_degrees":-0.23014500038092423}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0010940115099804504,0.002490733128972596],"position_m":[0.27780598849001953,-0.11520926687102741,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004575001307805158,-9.09797852991891e-05],"position_m":[0.23107500130780517,-0.4092909797852992,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00026228768776776195,0.004353148101301114],"position_m":[0.3528622876877678,0.07035314810130111,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0024690882240631555,0.001193477851398327],"position_m":[0.34466908822406317,0.32509347785139836,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"62426b35e9b794a94ab26ef2b8b92e68fd99b83cd22c9b838eed5776b0a0ac64","episode_index":1,"episode_name":"episode_0001"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0001.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_2703/tex_ceiling_textures_5770/tex_floor_textures_4936/tex_table_textures_3848/tex_wall_textures_9060","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":987221207239096107,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":987221207239096107,"visual_seed":987221207239096107,"scene_id":"lab_003","finished_at":"2026-09-03T23:33:44"} +{"episode_id":"ep_000002","started_at":"2026-09-03T23:33:49","dimensions":{"distractor":{"count":27,"items":[{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_0","position":[0.127628448832249,0.7025503865172142,0.71338606911949],"aabb_xy":[[0.07762844754840902,0.6525715321265921],[0.17762845011608894,0.7525292409078363]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_1","position":[0.6363438973729323,-0.016143024491155344,0.71338606911949],"aabb_xy":[[0.5863507852637404,-0.06614302516535099],[0.6863370094821242,0.0338569761830403]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_2","position":[-0.583523987867413,1.2771979128760709,0.71338606911949],"aabb_xy":[[-0.6098128121878535,1.2509264792214196],[-0.5572351635469722,1.303469346530722]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_3","position":[0.28560361976949755,1.4083277215869279,0.71338606911949],"aabb_xy":[[0.22060361881237037,1.3563795096532223],[0.35060362072662477,1.4602759335206335]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_4","position":[-0.3272541383150388,1.5239561155906602,0.71338606911949],"aabb_xy":[[-0.34480083323115773,1.486456114026409],[-0.30970744339891987,1.5614561171549115]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_5","position":[-0.16131724772608713,-1.7212255395028184,0.71338606911949],"aabb_xy":[[-0.19881724766985354,-1.729518629537655],[-0.12381724778232073,-1.7129324494679818]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_6","position":[0.6919965255902523,1.5104440088772582,0.71338606911949],"aabb_xy":[[0.6759345981317346,1.4254440070646661],[0.7080584530487699,1.5954440106898498]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_7","position":[0.058200524916038665,-1.9246971718420576,0.71338606911949],"aabb_xy":[[-0.005799474253731277,-1.97146385896102],[0.12220052408580862,-1.877930484723095]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_8","position":[0.05161142901692206,-2.437294559683902,0.71338606911949],"aabb_xy":[[-0.01838857258535742,-2.4507273528855595],[0.12161143061920154,-2.4238617664822444]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_9","position":[0.3621005640531838,0.4456150441605313,0.71338606911949],"aabb_xy":[[0.32460056338860505,0.42992798616030914],[0.39960056471776245,0.4613021021607535]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_10","position":[-0.30841022185291705,-0.4107663587460255,0.71338606911949],"aabb_xy":[[-0.38841022050980306,-0.42527121767028836],[-0.22841022319603105,-0.3962614998217628]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_11","position":[-0.34015144112666407,-0.7768596021352325,0.71338606911949],"aabb_xy":[[-0.42387366662674647,-0.8668596056699284],[-0.25642921562658155,-0.6868595986005365]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_12","position":[-0.318020223560638,-1.2455714364261916,0.71338606911949],"aabb_xy":[[-0.3880202199705997,-1.266009372077873],[-0.24802022715067615,-1.2251335007745094]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_13","position":[0.017828187025339393,-1.7030837188608658,0.71338606911949],"aabb_xy":[[0.0003282535913560203,-1.7205837187811002],[0.035328120459322765,-1.685583718940631]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_14","position":[-0.5712860890442395,-2.136850137610408,0.71338606911949],"aabb_xy":[[-0.5795006341599233,-2.1455267279080483],[-0.5630715439285553,-2.1281735473127656]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_15","position":[-0.494375960126243,-1.147226543292783,0.71338606911949],"aabb_xy":[[-0.5022992403649913,-1.1697265435307866],[-0.4864526798874947,-1.12472654305478]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_16","position":[-0.34467172018844056,-0.5148396485092372,0.71338606911949],"aabb_xy":[[-0.3821717205366683,-0.5266310440903207],[-0.3071717198402128,-0.5030482529281536]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_17","position":[-0.0513455198232875,1.1332118638830688,0.71338606911949],"aabb_xy":[[-0.0554813761559877,1.0957118644387118],[-0.04720966349058731,1.1707118633274258]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_18","position":[-0.5166174213305876,-0.6009879168837733,0.71338606911949],"aabb_xy":[[-0.5220753669676077,-0.6809879201914324],[-0.5111594756935676,-0.5209879135761142]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_19","position":[-0.49613426835691243,-0.33807838715589567,0.71338606911949],"aabb_xy":[[-0.532047772781902,-0.37399189537265026],[-0.4602207639319227,-0.30216487893914107]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_20","position":[0.5476043342255121,0.6478221670554731,0.71338606911949],"aabb_xy":[[0.5343733886908308,0.6345947480334735],[0.5608352797601934,0.6610495860774723]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_21","position":[-0.4168427437123013,-1.3731674282567838,0.71338606911949],"aabb_xy":[[-0.45434274450429674,-1.379535269214974],[-0.37934274292030584,-1.3667995872985936]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_22","position":[-0.32105366295538723,-2.1399167129724574,0.71338606911949],"aabb_xy":[[-0.3339255664563273,-2.2199167133862936],[-0.30818175945444704,-2.0599167125586213]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_23","position":[-0.37445430975435556,-1.64890017739546,0.71338606911949],"aabb_xy":[[-0.4245517737354292,-1.7129001779052717],[-0.32435684577328194,-1.584900176885648]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_24","position":[0.20557459688588375,-1.530211501658251,0.71338606911949],"aabb_xy":[[0.17111211887279595,-1.5368751788411734],[0.2400370748989715,-1.523547824475328]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_25","position":[-0.453468201882934,-2.113553634058009,0.71338606911949],"aabb_xy":[[-0.5085934075125247,-2.1735536354992955],[-0.3983429962533432,-2.053553632616721]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_26","position":[0.5803504514419526,-1.9719064558914559,0.71338606911949],"aabb_xy":[[0.5103504480503906,-2.0072222295948863],[0.6503504548335146,-1.9365906821880248]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6940662112804322,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1825.png","name":"1825"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1825.png","name":"1825"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2903.png","name":"2903"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4089.png","name":"4089"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8385.png","name":"8385"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7336.png","name":"7336"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":690.7998342042616,"rotation_z_degrees":98.34020424025726,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006708965770095002,-0.0017348827307050799,0.01728527539717833]},{"name":"camera_2","offset_m":[0.003479697200452145,0.01776471673186503,-0.012013417136854514]},{"name":"camera_3","offset_m":[-0.013584386060451047,-0.011706439980610167,0.012950702592689208]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0005351997365370016,-0.00023255711056173294,-0.0002308557216078211],"end_effector_yaw_offset_degrees":0.9688842234207471},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008406584837929105,0.001180868387205544,0.0004941458677379823],"end_effector_yaw_offset_degrees":-0.6653921636959654},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007671410141480983,-0.0002465188880047373,-0.0007603545562151527],"end_effector_yaw_offset_degrees":0.14268019027454604}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004886944509647462,0.002068805094915302],"position_m":[0.27401305549035254,-0.1156311949050847,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0028550784436825885,-0.0030749946958355603],"position_m":[0.2293550784436826,-0.41227499469583556,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002239459800515483,0.0022882007500157186],"position_m":[0.35036054019948454,0.06828820075001572,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0006238762704132454,0.001944731681064348],"position_m":[0.3428238762704133,0.32584473168106437,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d6ac6301f388d842962e203d37ddc221c6a0551ea4f5db6bb18c8dd8fb67c00a","episode_index":2,"episode_name":"episode_0002"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0002.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_1825/tex_ceiling_textures_7336/tex_floor_textures_8385/tex_table_textures_2903/tex_wall_textures_4089","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":3083974150321380393,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":3083974150321380393,"visual_seed":3083974150321380393,"scene_id":"lab_003","finished_at":"2026-09-03T23:36:26"} +{"episode_id":"ep_000003","started_at":"2026-09-03T23:36:30","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_0","position":[-0.5682911911305739,1.0346986548967267,0.71338606911949],"aabb_xy":[[-0.5904637181072248,1.0125229877406037],[-0.5461186641539231,1.0568743220528498]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_1","position":[0.011685515612213537,-1.2059467715523873,0.71338606911949],"aabb_xy":[[-0.07831448380615735,-1.2393222683965768],[0.10168551503058443,-1.1725712747081973]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_2","position":[-0.5724499217901577,-1.024866343989993,0.71338606911949],"aabb_xy":[[-0.5974499213418962,-1.0350088278551277],[-0.5474499222384193,-1.0147238601248583]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_3","position":[0.5330652872347899,-1.5596442251551592,0.71338606911949],"aabb_xy":[[0.4980652873387709,-1.5680184606670988],[0.5680652871308086,-1.5512699896432192]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_4","position":[-0.14152801709616247,1.3828823817564713,0.71338606911949],"aabb_xy":[[-0.16511314056005733,1.3178823795110395],[-0.11794289363226762,1.447882384001903]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_5","position":[-0.18660315617847922,0.1983392780208848,0.71338606911949],"aabb_xy":[[-0.2064941960588195,0.18568346673618796],[-0.16671211629813898,0.21099508930558167]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_6","position":[-0.10510731560343278,-2.227113755771122,0.71338606911949],"aabb_xy":[[-0.11114432860409752,-2.23314045684007],[-0.09907030260276807,-2.2210870547021737]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_7","position":[0.4510899279489722,-2.4036372667140076,0.71338606911949],"aabb_xy":[[0.4391571935871441,-2.416019419521867],[0.46302266231080025,-2.391255113906148]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_8","position":[0.38593982025446727,1.1741602425975497,0.71338606911949],"aabb_xy":[[0.2959398179204482,1.096677888012437],[0.4759398225884863,1.2516425971826624]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_9","position":[-0.09162758511476965,-1.7713077392756293,0.71338606911949],"aabb_xy":[[-0.14662079645190643,-1.8263077396144232],[-0.03663437377763291,-1.716307738936836]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_10","position":[-0.30282574889352487,-2.0140442618922463,0.71338606911949],"aabb_xy":[[-0.33712265991126544,-2.0483411481021867],[-0.2685288378757842,-1.979747375682304]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_11","position":[0.12431708609912229,-1.0076771003017924,0.71338606911949],"aabb_xy":[[0.08681708530712685,-1.0140449412599826],[0.16181708689111773,-1.0013092593436022]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_12","position":[0.12415319886903997,0.8566003472703705,0.71338606911949],"aabb_xy":[[0.11537197172180377,0.8478205999818406],[0.13293442601627622,0.8653800945589009]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_13","position":[0.39191304400733107,0.405495350209077,0.71338606911949],"aabb_xy":[[0.38388677337670507,0.39674385523172445],[0.39993931463795707,0.4142468451864297]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_14","position":[0.5481812366658869,-2.100191710855123,0.71338606911949],"aabb_xy":[[0.5306812373877999,-2.117529810921469],[0.5656812359439737,-2.082853610788777]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_15","position":[0.16054205269132682,-2.3724935781632968,0.71338606911949],"aabb_xy":[[0.10554980205581588,-2.4274935799066095],[0.2155343033268378,-2.317493576419984]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_16","position":[0.3482640543909956,-2.0723755738082925,0.71338606911949],"aabb_xy":[[0.33884657982113287,-2.0817917509460115],[0.35768152896085836,-2.0629593966705735]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_17","position":[-0.12135243169397025,-0.7276832640839632,0.71338606911949],"aabb_xy":[[-0.1345036776652596,-0.7526832638406499],[-0.1082011857226809,-0.7026832643272767]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_18","position":[-0.5177889141251567,-2.47103705888558,0.71338606911949],"aabb_xy":[[-0.5291506487784428,-2.4824055252918673],[-0.5064271794718704,-2.4596685924792916]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_19","position":[-0.5288032166093604,0.2481411776419895,0.71338606911949],"aabb_xy":[[-0.5465967235442768,0.23034143204619187],[-0.5110097096744439,0.2659409232377872]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_20","position":[0.2723850726893341,-1.1525076197552278,0.71338606911949],"aabb_xy":[[0.2548067705003873,-1.1700821093293325],[0.289963374878281,-1.134933130181123]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_21","position":[-0.03995502846490595,-2.366563007886075,0.71338606911949],"aabb_xy":[[-0.09995502897275887,-2.4234097415719957],[0.020044972042946963,-2.3097162742001536]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_22","position":[-0.23684510707588036,0.307880701575618,0.71338606911949],"aabb_xy":[[-0.286845108737375,0.25788225931991526],[-0.18684510541438554,0.3578791438313207]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_23","position":[-0.1261001384651408,0.7420448725718902,0.71338606911949],"aabb_xy":[[-0.13155808410216085,0.662044869264231],[-0.12064219282812072,0.8220448758795492]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_24","position":[-0.6005678418558023,-1.2521091863668872,0.71338606911949],"aabb_xy":[[-0.6103238313649761,-1.2618717204261214],[-0.5908118523466284,-1.2423466523076525]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_25","position":[-0.4854682340265591,-1.1086547729959144,0.71338606911949],"aabb_xy":[[-0.5079682338404614,-1.1131293893663954],[-0.46296823421265676,-1.104180156625434]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_26","position":[-0.46555387025319184,1.6345049749489946,0.71338606911949],"aabb_xy":[[-0.4790003968872352,1.6210351232959033],[-0.45210734361914856,1.647974826602086]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_27","position":[-0.09761848815645491,0.1504872345198165,0.71338606911949],"aabb_xy":[[-0.10487973572686231,0.137700224256307],[-0.09035724058604748,0.16327424478332597]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_28","position":[-0.42193104816673344,-0.2571919822759514,0.71338606911949],"aabb_xy":[[-0.4306450172166678,-0.2796919829351395],[-0.41321707911679884,-0.2346919816167631]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_29","position":[0.3912910445197033,-1.6694655000729306,0.71338606911949],"aabb_xy":[[0.3262910463637843,-1.6957617446228428],[0.4562910426756224,-1.6431692555230184]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_30","position":[0.1799368155617609,1.4984933134962861,0.71338606911949],"aabb_xy":[[0.1629267182717102,1.482358824998012],[0.1969469128518115,1.5146278019945598]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_31","position":[-0.07085936730926934,-0.8307472147816455,0.71338606911949],"aabb_xy":[[-0.09377508019431925,-0.8536515119180691],[-0.04794365442421944,-0.8078429176452221]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_32","position":[0.6034568816551575,0.9202769969153732,0.71338606911949],"aabb_xy":[[0.5858240460616299,0.9026540508997501],[0.621089717248685,0.9378999429309961]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6874690120161392,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/242.png","name":"242"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/242.png","name":"242"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6245.png","name":"6245"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2759.png","name":"2759"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2534.png","name":"2534"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4210.png","name":"4210"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":570.7754335574696,"rotation_z_degrees":209.72404105997785,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009682777564929725,0.006796153391158261,0.00760444706974631]},{"name":"camera_2","offset_m":[0.011565935131220114,-0.006539257306272446,-0.008746693206481476]},{"name":"camera_3","offset_m":[-0.008216167829334138,-0.013569255472743232,0.00869175132058769]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0016162361373893725,-0.0005751185356571585,-0.0006498170439126066],"end_effector_yaw_offset_degrees":0.7841794711074479},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016301696789827926,-0.00022911359668411854,0.00026083850006261306],"end_effector_yaw_offset_degrees":-0.9854184903997927},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008511905107363056,0.0016290615038691337,0.001063839423219554],"end_effector_yaw_offset_degrees":0.06745268713795816}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0021233269003958057,0.0043472937732630555],"position_m":[0.2767766730996042,-0.11335270622673695,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0038050102757930587,0.0034636766934777246],"position_m":[0.23030501027579306,-0.40573632330652226,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0012262273795101697,0.0008359755870384422],"position_m":[0.3538262273795102,0.06683597558703845,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003754169179286949,-0.003888593354068634],"position_m":[0.33844583082071306,0.32001140664593136,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"fb8b9014d4288896af5c00374b92ab267c51759c680807a746f151fa7d59251a","episode_index":3,"episode_name":"episode_0003"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0003.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_242/tex_ceiling_textures_4210/tex_floor_textures_2534/tex_table_textures_6245/tex_wall_textures_2759","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":7740304108986815734,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":7740304108986815734,"visual_seed":7740304108986815734,"scene_id":"lab_003","finished_at":"2026-09-03T23:39:08"} +{"episode_id":"ep_000004","started_at":"2026-09-03T23:39:11","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_0","position":[0.3161933141126083,-0.7004102859910828,0.71338606911949],"aabb_xy":[[0.2959090113892095,-0.7206929111337915],[0.336477616836007,-0.6801276608483738]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_1","position":[-0.08650039775563834,0.31980345313936454,0.71338606911949],"aabb_xy":[[-0.09826858455029588,0.23480345323414303],[-0.07473221096098083,0.4048034530445862]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_2","position":[0.028863295917036402,-1.2521497703451365,0.71338606911949],"aabb_xy":[[0.006363295906888115,-1.2662459899847398],[0.05136329592718469,-1.2380535507055332]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_3","position":[-0.22241864758090585,1.7383586330435388,0.71338606911949],"aabb_xy":[[-0.2636674586108205,1.6833586335313209],[-0.1811698365509911,1.7933586325557558]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_4","position":[-0.6532140111052513,-1.2830931722173347,0.71338606911949],"aabb_xy":[[-0.6609172017793283,-1.2908025429160728],[-0.6455108204311744,-1.2753838015185965]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_5","position":[0.38995685883121345,1.2932507291466497,0.71338606911949],"aabb_xy":[[0.3826745424545496,1.2032507255371403],[0.39723917520787694,1.3832507327561583]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_6","position":[0.1289343736218258,0.8071695331520168,0.71338606911949],"aabb_xy":[[0.10646960365042066,0.7846695322731563],[0.1513991435932309,0.8296695340308773]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_7","position":[0.5132227952685853,0.4295376684607799,0.71338606911949],"aabb_xy":[[0.4332227972878003,0.42193612749892795],[0.5932227932493703,0.43713920942263185]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_8","position":[0.20591631417956446,-1.809554902308745,0.71338606911949],"aabb_xy":[[0.14591631358354828,-1.8643673748539684],[0.26591631477558064,-1.7547424297635215]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_9","position":[0.32180341107864985,-1.5809662054423803,0.71338606911949],"aabb_xy":[[0.2418034139190745,-1.5925138064001974],[0.4018034082382251,-1.5694186044845633]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_10","position":[-0.03134040010241912,0.8888892193614075,0.71338606911949],"aabb_xy":[[-0.11134039750601253,0.8088966481632246],[0.0486595973011743,0.9688817905595902]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_11","position":[0.5710317061952315,-2.3265800601337263,0.71338606911949],"aabb_xy":[[0.5060317083135838,-2.377703723840267],[0.6360317040768794,-2.2754563964271854]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_12","position":[0.43759030716313885,1.6519595972185273,0.71338606911949],"aabb_xy":[[0.4224274341862018,1.6367941399234087],[0.452753180140076,1.6671250545136462]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_13","position":[-0.4700129152174485,0.0677601030086099,0.71338606911949],"aabb_xy":[[-0.47763718330762667,0.060126879472066186],[-0.4623886471272702,0.07539332654515363]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_14","position":[-0.42836893767991213,-0.8880402348665852,0.71338606911949],"aabb_xy":[[-0.4783689390407994,-0.9380181394420009],[-0.37836893631902496,-0.8380623302911696]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_15","position":[-0.22231013947129497,1.4003866859426641,0.71338606911949],"aabb_xy":[[-0.2573101377819904,1.3926716710191185],[-0.18731014116059952,1.4081017008662098]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_16","position":[0.3357673243196688,-2.5672919696254284,0.71338606911949],"aabb_xy":[[0.24576732572519888,-2.5835425559388496],[0.42576732291413877,-2.551041383312008]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_17","position":[0.5507052895080566,1.4553954973386891,0.71338606911949],"aabb_xy":[[0.5007223393205772,1.4053954976961283],[0.6006882396955359,1.505395496981249]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_18","position":[-0.6152917557135177,-1.9587882710025224,0.71338606911949],"aabb_xy":[[-0.6328700579024646,-1.9763627605766272],[-0.597713453524571,-1.9412137814284172]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_19","position":[-0.23548429974969914,-1.8879854217018677,0.71338606911949],"aabb_xy":[[-0.2389249759897563,-1.8918468546762321],[-0.23204362350964194,-1.8841239887275032]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_20","position":[0.04171857421547276,-0.7369650854333283,0.71338606911949],"aabb_xy":[[0.024287859136466246,-0.754237200097179],[0.05914928929447926,-0.7196929707694774]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_21","position":[-0.5053441618755107,-1.2380471952969268,0.71338606911949],"aabb_xy":[[-0.5229769974690383,-1.2556701413125497],[-0.48771132628198316,-1.2204242492813038]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_22","position":[-0.021041377320037302,-1.3778206464368588,0.71338606911949],"aabb_xy":[[-0.056041377216056176,-1.3861948819487984],[0.013958622575981567,-1.3694464109249187]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_23","position":[-0.6072440654060988,-0.9611447454527526,0.71338606911949],"aabb_xy":[[-0.6672440652526656,-1.0179633676457915],[-0.547244065559532,-0.9043261232597141]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_24","position":[0.47038766923082953,-0.44159732492916426,0.71338606911949],"aabb_xy":[[0.461673700180895,-0.4640973255883524],[0.47910163828076396,-0.419097324269976]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6924653598704338,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1725.png","name":"1725"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1725.png","name":"1725"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1380.png","name":"1380"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1738.png","name":"1738"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2139.png","name":"2139"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2457.png","name":"2457"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":557.2057836309206,"rotation_z_degrees":155.94900488553952,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005177116323258367,-0.00517408677398282,0.006974900050266842]},{"name":"camera_2","offset_m":[-0.014133409612104093,-0.0010393603698023585,0.00045348031263773084]},{"name":"camera_3","offset_m":[0.01686980709847614,-0.01833719814844202,0.009510121586977373]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017499545824175332,0.0010102721809001542,-0.0005634435513551224],"end_effector_yaw_offset_degrees":0.052940484667129084},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001337393596251265,0.0012876654056309905,0.0008410986795811802],"end_effector_yaw_offset_degrees":-0.7721844258427051},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018809737332941053,-3.842362954912214e-06,-0.00017029580773741905],"end_effector_yaw_offset_degrees":-0.34005749674270724}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001078060437113163,-0.0031914919127950915],"position_m":[0.27997806043711315,-0.1208914919127951,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0019674898588908788,-0.0003292228326216796],"position_m":[0.2284674898588909,-0.40952922283262166,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0013615427966182396,-0.0022880381143707273],"position_m":[0.3539615427966183,0.06371196188562928,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0026736481879779273,0.004712063059467944],"position_m":[0.33952635181202206,0.32861206305946794,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"91e98df10f10f08834b31e7e72cf2598f28df1efec052632d5fc973ff6c416e4","episode_index":4,"episode_name":"episode_0004"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0004.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_1725/tex_ceiling_textures_2457/tex_floor_textures_2139/tex_table_textures_1380/tex_wall_textures_1738","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":3623869475578887397,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":3623869475578887397,"visual_seed":3623869475578887397,"scene_id":"lab_003","finished_at":"2026-09-03T23:42:16"} +{"episode_id":"ep_000005","started_at":"2026-09-03T23:42:18","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_0","position":[0.4339352932814995,0.4481607617622667,0.71338606911949],"aabb_xy":[[0.4304946170414423,0.44429932878790235],[0.43737596952155666,0.4520221947366313]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_1","position":[0.4561492465376231,-0.3505736134238382,0.71338606911949],"aabb_xy":[[0.43487123839415087,-0.4155736157499112],[0.47742725468109537,-0.2855736110977651]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_2","position":[-0.3274797543960875,0.06411369739446204,0.71338606911949],"aabb_xy":[[-0.33237904670265095,0.036436778091893274],[-0.32258046208952396,0.09179061669703081]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_3","position":[-0.4306763255131567,-0.7380245334618851,0.71338606911949],"aabb_xy":[[-0.5206763278471758,-0.8155068880469979],[-0.34067632317913765,-0.6605421788767726]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_4","position":[0.2118271874913552,0.7248500344155491,0.71338606911949],"aabb_xy":[[0.1814290763922116,0.6944431324138794],[0.24222529859049877,0.7552569364172185]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_5","position":[-0.49660271279924084,-0.32221224831028294,0.71338606911949],"aabb_xy":[[-0.5437320918010764,-0.38621224935468484],[-0.44947333379740506,-0.25821224726588093]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_6","position":[-0.27068178761495987,0.44744045279324896,0.71338606911949],"aabb_xy":[[-0.29096609033835863,0.4271578276505401],[-0.2503974848915611,0.4677230779359578]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_7","position":[-0.14577255192754401,0.22444000798897212,0.71338606911949],"aabb_xy":[[-0.16183447938606163,0.13944000617638033],[-0.12971062446902634,0.30944000980156394]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_8","position":[0.46200386356764667,-0.6544909439388185,0.71338606911949],"aabb_xy":[[0.4120038625485115,-0.6909571596766464],[0.512003864586782,-0.6180247282009905]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_9","position":[0.6949157308557923,1.4036023380125755,0.71338606911949],"aabb_xy":[[0.6907997807437196,1.3994867829797297],[0.6990316809678649,1.4077178930454208]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_10","position":[-0.2672594881132169,-1.886664438641092,0.71338606911949],"aabb_xy":[[-0.31725948947410415,-1.9366423432165076],[-0.21725948675232973,-1.8366865340656764]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_11","position":[-0.07153208992783344,-1.9932687602616914,0.71338606911949],"aabb_xy":[[-0.13552778732293003,-2.0572687585624],[-0.0075363925327368575,-1.929268761960983]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_12","position":[-0.5099164030189862,1.2704273986914205,0.71338606911949],"aabb_xy":[[-0.5382461129675266,1.2659666564977035],[-0.4815866930704461,1.2748881408851376]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_13","position":[0.5568262885721651,-2.4009684340298203,0.71338606911949],"aabb_xy":[[0.47682628829855805,-2.4739179818555366],[0.636826288845772,-2.328018886204103]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_14","position":[-0.16637261438242767,-0.621816568167427,0.71338606911949],"aabb_xy":[[-0.17028648757785023,-0.6305655835739838],[-0.16245874118700518,-0.6130675527608702]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_15","position":[0.4961427909642786,1.5977241041392687,0.71338606911949],"aabb_xy":[[0.4466623697503199,1.5337241062264169],[0.5456232121782375,1.6617241020521205]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_16","position":[-0.5800408659065347,-1.9731695242729306,0.71338606911949],"aabb_xy":[[-0.6025372873403988,-1.995669524079678],[-0.5575444444726706,-1.9506695244661831]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_17","position":[-0.4910309966304844,-1.3599967879291532,0.71338606911949],"aabb_xy":[[-0.4980724475812321,-1.3670235396669477],[-0.4839895456797369,-1.3529700361913588]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_18","position":[-0.023911596011779612,-2.360076348470535,0.71338606911949],"aabb_xy":[[-0.07391159696231242,-2.3916254954740563],[0.026088404938753196,-2.3285272014670135]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_19","position":[0.16259433544299495,-0.7607993829715298,0.71338606911949],"aabb_xy":[[0.1546710552042466,-0.7832993832095332],[0.17051761568174326,-0.7382993827335265]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_20","position":[-0.21688876526451262,1.1020827025916784,0.71338606911949],"aabb_xy":[[-0.22222634093051716,1.0770827016625386],[-0.21155118959850802,1.1270827035208182]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_21","position":[0.5572652299579197,0.28345043606846954,0.71338606911949],"aabb_xy":[[0.5286158975975034,0.2548048767913937],[0.5859145623183358,0.3120959953455453]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_22","position":[0.08803937780962201,-1.41820205619736,0.71338606911949],"aabb_xy":[[0.05241022190966228,-1.4538347229542132],[0.12366853370958177,-1.3825693894405073]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_23","position":[-0.14758555603610723,1.1799588910846723,0.71338606911949],"aabb_xy":[[-0.18204803404919498,1.1732952139017494],[-0.11312307802301944,1.1866225682675948]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_24","position":[-0.6642402114860194,-1.136043492167424,0.71338606911949],"aabb_xy":[[-0.6867539033094765,-1.2060434927684316],[-0.6417265196625621,-1.0660434915664165]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_25","position":[-0.5136543645912077,-0.002898739207738199,0.71338606911949],"aabb_xy":[[-0.5836543663999533,-0.024252507971925574],[-0.4436543627824624,0.018455029556449176]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_26","position":[-0.5668238196827027,0.6933454126928948,0.71338606911949],"aabb_xy":[[-0.6168238191228983,0.6433774882085784],[-0.5168238202425071,0.743313337177211]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6958716606795657,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/410.png","name":"410"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/410.png","name":"410"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6419.png","name":"6419"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1814.png","name":"1814"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3893.png","name":"3893"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8742.png","name":"8742"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":582.1436962386917,"rotation_z_degrees":248.8536598973195,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004244353634275243,-0.008566494762676085,0.014232222502813054]},{"name":"camera_2","offset_m":[0.0007069477840705475,0.0019050288447313157,-0.011342489754941268]},{"name":"camera_3","offset_m":[-0.008834705536079724,0.011461660596900288,-0.017157472474907186]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.000956260965881191,0.0009067979844143395,-1.731344670097279e-05],"end_effector_yaw_offset_degrees":-0.28612567921593146},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014423823340339345,0.0012000217183532873,0.0013089696832705557],"end_effector_yaw_offset_degrees":0.1269981851363673},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001172398280848043,-0.0003811309080524498,-0.00016207626659234579],"end_effector_yaw_offset_degrees":-0.313584248131451}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0019122373375624613,0.003436711355253019],"position_m":[0.2769877626624375,-0.11426328864474698,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0038843911518421192,0.004970872443487376],"position_m":[0.2226156088481579,-0.40422912755651264,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0029811938193394505,8.471436330149615e-05],"position_m":[0.34961880618066055,0.0660847143633015,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0016383147787286017,0.003880228621260415],"position_m":[0.3438383147787286,0.32778022862126044,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"389a1d054eeaeaa037494b345ab38d9450a02b8177f077ea85bb52bc201f8388","episode_index":5,"episode_name":"episode_0005"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0005.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_410/tex_ceiling_textures_8742/tex_floor_textures_3893/tex_table_textures_6419/tex_wall_textures_1814","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":4215190462522764585,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":4215190462522764585,"visual_seed":4215190462522764585,"scene_id":"lab_003","finished_at":"2026-09-03T23:45:00"} +{"episode_id":"ep_000006","started_at":"2026-09-03T23:45:02","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_0","position":[-0.3012182049829929,-0.17591448892857153,0.71338606911949],"aabb_xy":[[-0.3248033284468878,-0.24091449117400332],[-0.2776330815190981,-0.11091448668313975]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_1","position":[-0.024173797259281815,-0.12389970891392599,0.71338606911949],"aabb_xy":[[-0.04204290501373731,-0.13773261689113692],[-0.006304689504826322,-0.11006680093671506]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_2","position":[0.3833825660620285,1.164423820765581,0.71338606911949],"aabb_xy":[[0.37396509149216567,1.155007643627862],[0.39280004063189117,1.1738399979033]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_3","position":[-0.3368993306844917,-1.716569909159733,0.71338606911949],"aabb_xy":[[-0.38189191740294204,-1.7615699084341818],[-0.2919067439660412,-1.6715699098852843]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_4","position":[0.5924952876898548,0.022850759002730037,0.71338606911949],"aabb_xy":[[0.5549952875179829,-0.009849976380177154],[0.6299952878617268,0.05555149438563722]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_5","position":[-0.46474576933886147,-0.8419681909651291,0.71338606911949],"aabb_xy":[[-0.4720070169092689,-0.8547552012286386],[-0.45748452176845406,-0.8291811807016196]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_6","position":[-0.6769545544392956,0.520969531854734,0.71338606911949],"aabb_xy":[[-0.6822870690939087,0.5156452036094985],[-0.6716220397846826,0.5262938600999696]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_7","position":[0.5221507672319177,-0.3204598268079413,0.71338606911949],"aabb_xy":[[0.475021388230082,-0.3844598278523432],[0.5692801462337533,-0.25645982576353926]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_8","position":[0.3774336085412253,1.0214945863781466,0.71338606911949],"aabb_xy":[[0.2874336088180511,0.9984212338429667],[0.46743360826439945,1.0445679389133262]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_9","position":[-0.012025773041428267,-1.3687131297989363,0.71338606911949],"aabb_xy":[[-0.04882040616633454,-1.4056190048955188],[0.024768860083478006,-1.3318072547023543]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_10","position":[0.361019624103196,0.488547389486504,0.71338606911949],"aabb_xy":[[0.3575789478631388,0.4846859565121396],[0.36446030034325316,0.49240882246086853]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_11","position":[0.40665556182643847,0.6770688189780407,0.71338606911949],"aabb_xy":[[0.392321136700275,0.665008603423502],[0.4209899869526019,0.6891290345325797]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_12","position":[-0.4376945854989097,0.4813812955247174,0.71338606911949],"aabb_xy":[[-0.45527288768785656,0.46380680595061247],[-0.42011628330996287,0.49895578509882227]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_13","position":[0.20853700036353273,1.4749948607391148,0.71338606911949],"aabb_xy":[[0.15853700000296664,1.4250148735295116],[0.25853700072409874,1.5249748479487175]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_14","position":[-0.4855876512266122,1.6233619175917195,0.71338606911949],"aabb_xy":[[-0.5026897291849803,1.6062551120604498],[-0.468485573268244,1.6404687231229893]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_15","position":[-0.017598993584269862,1.5100035390928208,0.71338606911949],"aabb_xy":[[-0.045444030364876986,1.4792190403545091],[0.010246043196337262,1.5407880378311325]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_16","position":[-0.6177108889141365,-0.6100661233732447,0.71338606911949],"aabb_xy":[[-0.6273425251345661,-0.6197034361529536],[-0.6080792526937069,-0.6004288105935358]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_17","position":[0.2817415365147887,-1.276373236218786,0.71338606911949],"aabb_xy":[[0.2778276633193662,-1.2851222516253429],[0.28565540971021125,-1.2676242208122293]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_18","position":[-0.19602062466669773,0.21921295401613916,0.71338606911949],"aabb_xy":[[-0.20692640075426044,0.13921295761731],[-0.18511484857913502,0.2992129504149683]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_19","position":[0.5495735433086302,-1.9322784355018134,0.71338606911949],"aabb_xy":[[0.5270735434947278,-1.9367530518722942],[0.5720735431225326,-1.9278038191313327]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_20","position":[0.5713693774764399,0.934129487948475,0.71338606911949],"aabb_xy":[[0.5213693788305187,0.8842099442890127],[0.6213693761223611,0.9840490316079374]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_21","position":[-0.16328105168547224,0.7637101306479397,0.71338606911949],"aabb_xy":[[-0.22828105279141553,0.7387447575798115],[-0.09828105057952896,0.7886755037160681]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6915399948554879,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6252.png","name":"6252"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6252.png","name":"6252"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2199.png","name":"2199"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/491.png","name":"491"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5175.png","name":"5175"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/579.png","name":"579"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":706.1357767205229,"rotation_z_degrees":321.78771326946315,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014719988757653745,-0.0047211135552192515,-0.01102209161062207]},{"name":"camera_2","offset_m":[-0.011076508567157526,0.006455595612451143,-0.009690610902395114]},{"name":"camera_3","offset_m":[-0.004936348947564735,-0.003948195579634845,0.01865723983982068]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006701360384823978,-0.0005690786754369089,0.001574038304387695],"end_effector_yaw_offset_degrees":0.7231220877672488},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001903517715735382,3.7431755934460957e-06,-0.00016600247123182087],"end_effector_yaw_offset_degrees":-0.6904153447399606},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019477105545368835,0.00036275339673450457,-0.0013736620237951081],"end_effector_yaw_offset_degrees":-0.7704965194992479}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001448016188120048,-0.002838935938618582],"position_m":[0.2774519838118799,-0.12053893593861859,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0031387131213061322,-0.0007765463183665115],"position_m":[0.22963871312130613,-0.4099765463183665,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003800430169367452,0.0036818248642187827],"position_m":[0.35640043016936745,0.06968182486421878,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0024068443457568645,0.0022592536127506845],"position_m":[0.3397931556542431,0.3261592536127507,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8859d01976b74729236920d36fb0420235a87be06b33eb6e15f41eba791a9710","episode_index":6,"episode_name":"episode_0006"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0006.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6252/tex_ceiling_textures_579/tex_floor_textures_5175/tex_table_textures_2199/tex_wall_textures_491","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":8375820871222134637,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":8375820871222134637,"visual_seed":8375820871222134637,"scene_id":"lab_003","finished_at":"2026-09-03T23:47:47"} +{"episode_id":"ep_000007","started_at":"2026-09-03T23:47:49","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_0","position":[-0.40098095150146174,-2.3833504983466525,0.71338606911949],"aabb_xy":[[-0.40694749044219747,-2.389311643006016],[-0.3950144125607259,-2.377389353687288]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_1","position":[0.2144410032219054,1.3202947080118852,0.71338606911949],"aabb_xy":[[0.20793936671390084,1.3105268859855754],[0.22094263972991007,1.330062530038195]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_2","position":[0.5405726621568514,-0.2575908975491745,0.71338606911949],"aabb_xy":[[0.5311551875869887,-0.2670070746868935],[0.5499901367267142,-0.24817472041145544]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_3","position":[-0.5571604408649411,-1.661641110141554,0.71338606911949],"aabb_xy":[[-0.5858097732253571,-1.6902866694186296],[-0.5285111085045247,-1.632995550864478]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_4","position":[-0.2716316283714955,-1.6069768329634804,0.71338606911949],"aabb_xy":[[-0.3216316287320615,-1.6569568201730829],[-0.22163162801092942,-1.556996845753877]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_5","position":[0.31990308469079287,-0.6890756291650002,0.71338606911949],"aabb_xy":[[0.2699201345033135,-0.7390756288075605],[0.36988603487827215,-0.6390756295224397]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_6","position":[-0.09152401984448855,-1.4976290490689752,0.71338606911949],"aabb_xy":[[-0.09761864773260688,-1.506198443620644],[-0.08542939195637024,-1.4890596545173065]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_7","position":[-0.5161575446665203,0.11984037838671036,0.71338606911949],"aabb_xy":[[-0.5536575447721133,0.11301821653372922],[-0.4786575445609274,0.12666254023969145]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_8","position":[0.13144809240806477,1.0769812215144148,0.71338606911949],"aabb_xy":[[0.1123357850500859,1.0578464426371725],[0.15056039976604363,1.0961160003916566]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_9","position":[-0.17954324078928352,-2.1645928178474403,0.71338606911949],"aabb_xy":[[-0.21704324108145834,-2.168634293248044],[-0.1420432404971087,-2.1605513424468366]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_10","position":[-0.24099519820470822,1.44638701180483,0.71338606911949],"aabb_xy":[[-0.24869838887878523,1.438677641106092],[-0.23329200753063115,1.4540963825035682]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_11","position":[-0.5134930581879696,-0.931516914437954,0.71338606911949],"aabb_xy":[[-0.5387138950478092,-0.9567406652908406],[-0.4882722213281299,-0.9062931635850671]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_12","position":[-0.12042261151152578,-0.7761083349519446,0.71338606911949],"aabb_xy":[[-0.15792261008714656,-0.7888446306155026],[-0.08292261293590496,-0.7633720392883867]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_13","position":[0.4793572896737477,-1.7214915934170942,0.71338606911949],"aabb_xy":[[0.4747221745215142,-1.7253589284942425],[0.48399240482598094,-1.7176242583399455]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_14","position":[0.24518858073302519,1.771676377427783,0.71338606911949],"aabb_xy":[[0.23697403561734115,1.7629997871301415],[0.25340312584870905,1.7803529677254242]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_15","position":[-0.6098416024539168,-1.8907353594615364,0.71338606911949],"aabb_xy":[[-0.6454707583538766,-1.926368026218389],[-0.5742124465539571,-1.8551026927046832]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_16","position":[0.6158544342992984,0.2024310147469417,0.71338606911949],"aabb_xy":[[0.5708618475808479,0.1574310154724929],[0.6608470210177487,0.24743101402139042]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_17","position":[0.3643549765666496,1.428797780859329,0.71338606911949],"aabb_xy":[[0.2743549779721797,1.4125471945459078],[0.4543549751611196,1.4450483671727499]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_18","position":[-0.3248401255254033,1.3916763170370428,0.71338606911949],"aabb_xy":[[-0.36234012534243687,1.387038105725901],[-0.28734012570836975,1.3963145283481846]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_19","position":[-0.5606241842993206,0.7571836773331331,0.71338606911949],"aabb_xy":[[-0.5950866623124084,0.7505200001502101],[-0.5261617062862328,0.7638473545160558]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_20","position":[-0.6696637705592532,-1.1602215302708405,0.71338606911949],"aabb_xy":[[-0.6735776437546757,-1.1689705456773973],[-0.6657498973638307,-1.1514725148642837]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6866113139010667,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1213.png","name":"1213"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1213.png","name":"1213"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4764.png","name":"4764"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/738.png","name":"738"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9068.png","name":"9068"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8846.png","name":"8846"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":532.5641269520704,"rotation_z_degrees":168.42162047207322,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0032739202203618915,-0.007021210786944359,0.015089026037430914]},{"name":"camera_2","offset_m":[0.013423614179766463,-0.017238532008911744,-0.012139490356602578]},{"name":"camera_3","offset_m":[0.007720470809947165,0.0027439469973517643,-0.004687271664230837]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012416531552115403,0.0019054304690267997,0.0014942524579631285],"end_effector_yaw_offset_degrees":-0.10795870873449687},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00041296464588913,0.0018233450794719352,0.0015112067454318744],"end_effector_yaw_offset_degrees":-0.9478195530658411},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019840628469084127,-0.001966448561357261,0.0017852939524804073],"end_effector_yaw_offset_degrees":0.5774052153426485}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004990945181358037,0.003237910932740242],"position_m":[0.28389094518135805,-0.11446208906725976,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0008152955582641976,-0.0034778368422364193],"position_m":[0.2256847044417358,-0.4126778368422364,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003119768275762629,-7.39165485999652e-05],"position_m":[0.3557197682757626,0.06592608345140004,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004830707392564282,-0.004326987350063193],"position_m":[0.3373692926074357,0.3195730126499368,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"cdc6f13d66bc31472c38eec638ce83b214eb6d3e7db8ed51a2f542da9d0cf231","episode_index":7,"episode_name":"episode_0007"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0007.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_1213/tex_ceiling_textures_8846/tex_floor_textures_9068/tex_table_textures_4764/tex_wall_textures_738","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":7377193152259722925,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":7377193152259722925,"visual_seed":7377193152259722925,"scene_id":"lab_003","finished_at":"2026-09-03T23:50:52"} +{"episode_id":"ep_000008","started_at":"2026-09-03T23:50:56","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_0","position":[0.45973787585791825,0.31329458828609846,0.71338606911949],"aabb_xy":[[0.4418687681034627,0.29946168030888753],[0.4776069836123737,0.3271274962633094]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_1","position":[-0.29959019462550396,-0.8347274358201211,0.71338606911949],"aabb_xy":[[-0.35458567244616335,-0.8897274372540279],[-0.24459471680484457,-0.7797274343862141]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_2","position":[0.2397996749697041,-0.6029291696368562,0.71338606911949],"aabb_xy":[[0.19480708825125373,-0.6479291689113049],[0.2847922616881545,-0.5579291703624074]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_3","position":[-0.6432479999389609,-1.9115638631129883,0.71338606911949],"aabb_xy":[[-0.6802821093670205,-1.9459410704466975],[-0.606213890510901,-1.8771866557792787]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_4","position":[-0.5480870791638547,0.1590588597620224,0.71338606911949],"aabb_xy":[[-0.556081067741558,0.15105877966693204],[-0.5400930905861512,0.16705893985711273]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_5","position":[-0.6209312218706771,-2.227850391996103,0.71338606911949],"aabb_xy":[[-0.6584312222189047,-2.2396417875771863],[-0.5834312215224492,-2.2160589964150192]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_6","position":[-0.1306864372128863,-1.921072759587358,0.71338606911949],"aabb_xy":[[-0.20068643984947265,-1.941177624583223],[-0.060686434576299964,-1.900967894591492]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_7","position":[0.4682341437516242,0.026283348179071186,0.71338606911949],"aabb_xy":[[0.4504406368167078,0.00848360258327352],[0.4860276506865407,0.04408309377486885]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_8","position":[0.6357701673073042,-0.761474228113938,0.71338606911949],"aabb_xy":[[0.6225392217726228,-0.7747016471359373],[0.6490011128419854,-0.7482468090919384]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_9","position":[0.3694259673516318,-1.724196861093517,0.71338606911949],"aabb_xy":[[0.34692596734148345,-1.7382930807331203],[0.39192596736178004,-1.7101006414539137]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_10","position":[0.28449951151356023,0.6742036510357847,0.71338606911949],"aabb_xy":[[0.2344020475324866,0.610203650525973],[0.33459697549463385,0.7382036515455966]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_11","position":[-0.6516655070485493,0.0629525969163085,0.71338606911949],"aabb_xy":[[-0.686665506178505,0.05720737584064438],[-0.6166655079185936,0.0686978179919726]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_12","position":[0.41224562992106106,1.3626077563904087,0.71338606911949],"aabb_xy":[[0.38974562967754567,1.350403121730637],[0.43474563016457646,1.3748123910501808]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_13","position":[-0.04652937408013402,-0.8283793991895423,0.71338606911949],"aabb_xy":[[-0.06396008915914052,-0.845651513853393],[-0.02909865900112751,-0.8111072845256914]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_14","position":[0.04550724963160391,1.0827601408124594,0.71338606911949],"aabb_xy":[[-0.018492752046393446,1.0342427493331452],[0.10950725130960126,1.1312775322917736]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_15","position":[-0.17737098622953584,-0.5352687979709296,0.71338606911949],"aabb_xy":[[-0.19987098604343823,-0.5397434143414104],[-0.15487098641563346,-0.5307941816004489]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_16","position":[0.5633046005171227,-1.7542684206492392,0.71338606911949],"aabb_xy":[[0.4993045998136534,-1.8002868031221606],[0.6273046012205921,-1.7082500381763186]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_17","position":[-0.6369116567882877,-0.7064878252548636,0.71338606911949],"aabb_xy":[[-0.6544116570476244,-0.7205793674436364],[-0.6194116565289511,-0.6923962830660911]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_18","position":[0.02513713834949649,-0.8987273186832019,0.71338606911949],"aabb_xy":[[0.016439176058781205,-0.9108522929906767],[0.033835100640211786,-0.8866023443757273]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_19","position":[-0.575043226438189,0.5683903929425624,0.71338606911949],"aabb_xy":[[-0.6221726054400245,0.5043903918981605],[-0.5279138474363532,0.6323903939869644]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_20","position":[0.24816171537209952,1.3445167108884353,0.71338606911949],"aabb_xy":[[0.23900183642822292,1.3379854928448982],[0.2573215943159761,1.3510479289319723]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_21","position":[0.3692571430244995,-0.8942100407445148,0.71338606911949],"aabb_xy":[[0.33479466501141175,-0.9008737179274374],[0.4037196210375873,-0.8875463635615918]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_22","position":[0.40987321215780725,-1.623690731618722,0.71338606911949],"aabb_xy":[[0.39930573249970813,-1.6342357617317305],[0.42044069181590615,-1.6131457015057133]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_23","position":[-0.24223720607618043,0.23381710992683136,0.71338606911949],"aabb_xy":[[-0.30223720632758155,0.1795357848903667],[-0.18223720582477923,0.288098434963296]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_24","position":[-0.5563070214611987,-0.7078346467577488,0.71338606911949],"aabb_xy":[[-0.568909720598275,-0.7204300429826143],[-0.5437043223241221,-0.6952392505328833]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_25","position":[-0.47079987749586105,0.11301674710575904,0.71338606911949],"aabb_xy":[[-0.47450313882499995,0.10931472879704116],[-0.46709661616672216,0.11671876541447687]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_26","position":[-0.13284456376078746,-0.23621961841771988,0.71338606911949],"aabb_xy":[[-0.1628362264946578,-0.2662196177545204],[-0.10285290102691713,-0.20621961908091935]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_27","position":[-0.5495355885283346,-1.24371061293088,0.71338606911949],"aabb_xy":[[-0.5695940001415749,-1.2637756998400373],[-0.5294771769150943,-1.2236455260217225]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_28","position":[-0.007731382141743071,1.375549139326281,0.71338606911949],"aabb_xy":[[-0.0157248719370251,1.3675510073858057],[0.00026210765353895665,1.383547271266757]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_29","position":[0.09953867240005876,-1.7230194367016152,0.71338606911949],"aabb_xy":[[0.03553867099206808,-1.7748083882255399],[0.1635386738080494,-1.6712304851776905]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6945712389286677,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1592.png","name":"1592"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1592.png","name":"1592"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5961.png","name":"5961"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3837.png","name":"3837"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4555.png","name":"4555"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3918.png","name":"3918"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":841.9990014457251,"rotation_z_degrees":144.54285111900612,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01787987173509439,0.004634644256559083,-0.010100201408358314]},{"name":"camera_2","offset_m":[-0.0033545064048060916,-0.002907680054443248,-0.01410521344278827]},{"name":"camera_3","offset_m":[0.0030910793350175277,0.013277455548331634,-0.015534782703174255]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0003424814003130444,0.0010959273034409425,0.0009065653272503295],"end_effector_yaw_offset_degrees":-0.6516159292946941},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0004957477583429452,0.0009328170522590984,-0.0007535590205120886],"end_effector_yaw_offset_degrees":0.10188768943896509},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009844153832262576,-0.0009912700710064683,-0.00047326736692480964],"end_effector_yaw_offset_degrees":-0.8738824684248232}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0004971156211670893,0.0008135653048637536],"position_m":[0.27840288437883287,-0.11688643469513625,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004383697135341524,0.001864577230690387],"position_m":[0.23088369713534154,-0.4073354227693096,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003279851929557315,-0.002440543248841232],"position_m":[0.3493201480704427,0.06355945675115877,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0044066032108647365,-0.004172788782810768],"position_m":[0.3466066032108647,0.3197272112171893,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"81f55e7d93393fb02fa1705cb12220ff2c732ce0745727a3f6d05e0cfca8d674","episode_index":8,"episode_name":"episode_0008"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0008.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_1592/tex_ceiling_textures_3918/tex_floor_textures_4555/tex_table_textures_5961/tex_wall_textures_3837","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":7785318249553189441,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":7785318249553189441,"visual_seed":7785318249553189441,"scene_id":"lab_003","finished_at":"2026-09-03T23:53:36"} +{"episode_id":"ep_000009","started_at":"2026-09-03T23:53:40","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_0","position":[-0.39619343178415656,-0.3785522253736264,0.71338606911949],"aabb_xy":[[-0.44616649731667213,-0.42855222518615943],[-0.34622036625164115,-0.3285522255610936]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_1","position":[-0.2280090744149016,-2.389921771446411,0.71338606911949],"aabb_xy":[[-0.2462148980761493,-2.4009471720284026],[-0.20980325075365394,-2.3788963708644193]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_2","position":[0.6351439024235348,1.0700070693269397,0.71338606911949],"aabb_xy":[[0.5551438991595217,1.0564470370180263],[0.7151439056875479,1.083567101635853]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_3","position":[-0.5922608204836864,-0.36366184912588606,0.71338606911949],"aabb_xy":[[-0.6297608219993182,-0.3748886221420311],[-0.5547608189680547,-0.352435076109741]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_4","position":[-0.19067226662570824,-1.811146651195371,0.71338606911949],"aabb_xy":[[-0.19878592129908532,-1.8192524676493997],[-0.1825586119523311,-1.8030408347413416]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_5","position":[0.10385253653811533,1.1836930151229472,0.71338606911949],"aabb_xy":[[0.054372115324156534,1.1196930172100954],[0.15333295775207412,1.247693013035799]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_6","position":[0.12830566148118616,1.702568204413962,0.71338606911949],"aabb_xy":[[0.048305660051058935,1.6230510494013526],[0.20830566291131333,1.7820853594265715]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_7","position":[-0.4314512207673374,-0.06610448699006266,0.71338606911949],"aabb_xy":[[-0.44733571403266253,-0.08045742728888673],[-0.41556672750201223,-0.05175154669123862]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_8","position":[0.6004155403885996,-1.5902623749952187,0.71338606911949],"aabb_xy":[[0.5885434573770983,-1.6752623746888688],[0.6122876234001006,-1.5052623753015681]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_9","position":[0.5091578964905641,-0.46914103365935045,0.71338606911949],"aabb_xy":[[0.5010302082972509,-0.47805464207005816],[0.5172855846838773,-0.46022742524864285]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_10","position":[0.09642898534094135,0.7641864609687583,0.71338606911949],"aabb_xy":[[0.08916773777053394,0.7513994507052488],[0.10369023291134877,0.7769734712322678]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_11","position":[0.6756297400900362,-1.8455408079684235,0.71338606911949],"aabb_xy":[[0.6451454899630059,-1.8955408077499192],[0.7061139902170662,-1.7955408081869273]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_12","position":[0.06326777051480481,1.3375045927136284,0.71338606911949],"aabb_xy":[[0.0572307575141401,1.3314778916446803],[0.06930478351546955,1.3435312937825765]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_13","position":[-0.14962136316961638,1.1220948333083176,0.71338606911949],"aabb_xy":[[-0.1746213623352495,1.115142587602961],[-0.12462136400398327,1.1290470790136742]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_14","position":[0.17521914541368344,-1.9746223351359993,0.71338606911949],"aabb_xy":[[0.14021914406220173,-1.99498207109282],[0.2102191467651652,-1.9542625991791784]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_15","position":[0.1759517949062087,-2.104437145410581,0.71338606911949],"aabb_xy":[[0.14762208495766851,-2.108897887604298],[0.20428150485474897,-2.0999764032168637]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_16","position":[0.62557109201969,-2.4461020800369844,0.71338606911949],"aabb_xy":[[0.5705973699833571,-2.501102079601217],[0.6805448140560229,-2.3911020804727507]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_17","position":[-0.27175147376989406,1.5120895506094487,0.71338606911949],"aabb_xy":[[-0.3614385500780095,1.422089550354998],[-0.1820643974617786,1.602089550863899]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_18","position":[-0.4659445256333365,-1.7104086692057203,0.71338606911949],"aabb_xy":[[-0.4739878855592916,-1.7954086703010865],[-0.45790116570738126,-1.6254086681103537]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_19","position":[-0.5864446100245497,-1.3337651762731326,0.71338606911949],"aabb_xy":[[-0.650444610298528,-1.3838312764704206],[-0.5224446097505715,-1.2836990760758447]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_20","position":[-0.0636512574460193,-2.0707008090681485,0.71338606911949],"aabb_xy":[[-0.06849485220724928,-2.0755524615471326],[-0.05880766268478933,-2.0658491565891643]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_21","position":[-0.17837276544545044,0.6451667605910143,0.71338606911949],"aabb_xy":[[-0.2583727687032934,0.5651702527990303],[-0.09837276218760749,0.7251632683829983]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_22","position":[0.19725360320333662,1.0007440245796344,0.71338606911949],"aabb_xy":[[0.15623565981696572,0.9507440239486771],[0.23827154658970748,1.0507440252105917]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_23","position":[0.2468796744283065,1.320733814144826,0.71338606911949],"aabb_xy":[[0.23171680145136941,1.3055683568497074],[0.2620425474052436,1.335899271439945]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6907826687716361,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1161.png","name":"1161"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1161.png","name":"1161"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2546.png","name":"2546"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8298.png","name":"8298"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/231.png","name":"231"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7404.png","name":"7404"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":747.3910657028898,"rotation_z_degrees":57.05226306271938,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010651331653981867,-0.016219036068693883,0.0006755304757825042]},{"name":"camera_2","offset_m":[-0.007348349998091584,0.005185467751682323,-0.018596300052951556]},{"name":"camera_3","offset_m":[-0.018528434256810843,-0.010738065168162923,0.009792196841440459]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006479943325587852,-0.0013391123779063793,-0.0018388916312397762],"end_effector_yaw_offset_degrees":-0.5931596548321412},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00021315700900637448,-0.001795576553931705,-0.00015465295976764353],"end_effector_yaw_offset_degrees":-0.4125206373797663},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001844616838924683,0.001963338534257149,0.0006597643732458177],"end_effector_yaw_offset_degrees":-0.572756419840978}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004460232899688047,0.0028378387428800835],"position_m":[0.28336023289968804,-0.11486216125711991,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0016986372313774764,-0.003708474016391408],"position_m":[0.22819863723137748,-0.4129084740163914,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0015025464404744525,0.00336617257807749],"position_m":[0.3510974535595256,0.06936617257807749,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002680413496466335,0.0011639261206226855],"position_m":[0.33951958650353364,0.3250639261206227,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"15a448e55962a937bc71e9010368cdd669fc1d75d98a5bad5cd43aa46ce79f9f","episode_index":9,"episode_name":"episode_0009"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0009.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_1161/tex_ceiling_textures_7404/tex_floor_textures_231/tex_table_textures_2546/tex_wall_textures_8298","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":4290676287680944287,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":4290676287680944287,"visual_seed":4290676287680944287,"scene_id":"lab_003","finished_at":"2026-09-03T23:56:38"} +{"episode_id":"ep_000010","started_at":"2026-09-03T23:56:43","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_0","position":[0.18054781766247563,0.6031310232420894,0.71338606911949],"aabb_xy":[[0.17496614602834684,0.590631023424314],[0.18612948929660436,0.615631023059865]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_1","position":[-0.4170592254613617,-1.439936538377152,0.71338606911949],"aabb_xy":[[-0.42952658357109735,-1.4524018630104758],[-0.40459186735162606,-1.4274712137438288]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_2","position":[0.3273355452052398,-1.9878542099554,0.71338606911949],"aabb_xy":[[0.24233554678781655,-2.072728505417685],[0.412335543622663,-1.902979914493115]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_3","position":[-0.24216708932954012,-1.1508340880534134,0.71338606911949],"aabb_xy":[[-0.25373607007647675,-1.1758340881703453],[-0.2305981085826036,-1.1258340879364819]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_4","position":[0.025031112697280977,-1.6111225704691146,0.71338606911949],"aabb_xy":[[0.007531179263297601,-1.628622570389349],[0.04253104613126435,-1.59362257054888]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_5","position":[0.5171150373759754,0.009354973801628308,0.71338606911949],"aabb_xy":[[0.46714174337271486,-0.04064502675291903],[0.5670883313792358,0.05935497435617565]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_6","position":[0.5629347002475915,1.4742222630299469,0.71338606911949],"aabb_xy":[[0.5569681613068557,1.4682611183705825],[0.5689012391883271,1.4801834076893108]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_7","position":[0.08976414111872877,1.0098161039028595,0.71338606911949],"aabb_xy":[[0.08173787048810278,1.0010646089255069],[0.09779041174935478,1.018567598880212]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_8","position":[0.58250991080784,1.2588644813267735,0.71338606911949],"aabb_xy":[[0.5480475634096981,1.2243705989289504],[0.6169722582059817,1.2933583637245958]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_9","position":[0.6542714974219985,0.503274377025615,0.71338606911949],"aabb_xy":[[0.5992714992202537,0.4627524103991774],[0.7092714956237434,0.5437963436520525]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_10","position":[-0.5639742195378269,-2.317917780591658,0.71338606911949],"aabb_xy":[[-0.6439742206109472,-2.3276958269290424],[-0.48397421846470656,-2.3081397342542735]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_11","position":[-0.14141342050170458,-0.2586111781375373,0.71338606911949],"aabb_xy":[[-0.15696918991196987,-0.27416161138194456],[-0.12585765109143934,-0.24306074489313018]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_12","position":[-0.29065666256590467,-2.3504618550687706,0.71338606911949],"aabb_xy":[[-0.2969687621022431,-2.3562287943219893],[-0.28434456302956623,-2.344694915815552]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_13","position":[-0.6358852292277465,-1.6657406976521094,0.71338606911949],"aabb_xy":[[-0.6726798623526528,-1.7026465727486915],[-0.5990905961028402,-1.628834822555527]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_14","position":[-0.6332880742072803,-1.1402725344686613,0.71338606911949],"aabb_xy":[[-0.6386256498732849,-1.165272535397801],[-0.6279504985412757,-1.1152725335395215]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_15","position":[-0.5838360273705863,-1.2376061683965933,0.71338606911949],"aabb_xy":[[-0.621336027662761,-1.2416476437971968],[-0.5463360270784113,-1.2335646929959898]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_16","position":[-0.19496443004574682,0.6813963969116981,0.71338606911949],"aabb_xy":[[-0.2042580482828974,0.643896398423564],[-0.18567081180859624,0.7188963953998319]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_17","position":[-0.41269212444037934,-1.8650067417306921,0.71338606911949],"aabb_xy":[[-0.4351885458742434,-1.8875067415374396],[-0.3901957030065152,-1.8425067419239447]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_18","position":[-0.32875270276186935,-0.9358398369120704,0.71338606911949],"aabb_xy":[[-0.41875269926274106,-0.9817514793305285],[-0.23875270626099757,-0.889928194493612]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_19","position":[-0.17603939335360186,1.725649041388769,0.71338606911949],"aabb_xy":[[-0.18416708154691508,1.7167354329780615],[-0.16791170516028864,1.734562649799477]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_20","position":[0.16476012257982553,-2.160110884032477,0.71338606911949],"aabb_xy":[[0.1262144297546245,-2.1986566550886657],[0.20330581540502657,-2.1215651129762882]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_21","position":[-0.4234635429357877,-0.6841068089781761,0.71338606911949],"aabb_xy":[[-0.4412570498707041,-0.7019065545739738],[-0.4056700360008712,-0.6663070633823784]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_22","position":[0.034767099638014165,0.7834494851238007,0.71338606911949],"aabb_xy":[[-0.019248496643885837,0.7194494822315435],[0.08878269591991417,0.8474494880160578]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_23","position":[-0.38726485763422697,-1.2529444388193975,0.71338606911949],"aabb_xy":[[-0.4372579697434189,-1.3029444394935934],[-0.3372717455250351,-1.2029444381452021]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6931120977518749,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5198.png","name":"5198"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5198.png","name":"5198"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6456.png","name":"6456"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9277.png","name":"9277"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3704.png","name":"3704"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3624.png","name":"3624"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":668.7003280793031,"rotation_z_degrees":50.58157446211827,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00839451669863124,0.018562996180272396,-0.01488741332707736]},{"name":"camera_2","offset_m":[-0.009447606092824934,0.013800755776864845,0.0016972868584770283]},{"name":"camera_3","offset_m":[0.000940365308144394,-0.00521420870234934,0.012699184147417834]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004350037853480147,-0.001905350490999095,0.001408531543811258],"end_effector_yaw_offset_degrees":0.29039057689598247},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00044492186313572113,-0.0018164586052502685,0.0009016264524199917],"end_effector_yaw_offset_degrees":0.372092528575779},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[4.6729310111526864e-05,-0.001062981598658841,-0.0019919940356860734],"end_effector_yaw_offset_degrees":-0.8661415468838798}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0007626465294848037,-0.0010850647055489129],"position_m":[0.2796626465294848,-0.1187850647055489,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0013580111281899544,0.0009638652194059504],"position_m":[0.22514198887181006,-0.40823613478059406,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0022727159182830206,-0.0022947938905399424],"position_m":[0.35487271591828307,0.06370520610946007,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0031347823209822304,-0.004889855157642512],"position_m":[0.34533478232098225,0.3190101448423575,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7527321559c9b32fd8a82e5058a3e4fb319d17b562723b44dfab61b45ed34c6b","episode_index":10,"episode_name":"episode_0010"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0010.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_5198/tex_ceiling_textures_3624/tex_floor_textures_3704/tex_table_textures_6456/tex_wall_textures_9277","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":868699225444677853,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":868699225444677853,"visual_seed":868699225444677853,"scene_id":"lab_003","finished_at":"2026-09-03T23:59:17"} +{"episode_id":"ep_000011","started_at":"2026-09-03T23:59:20","dimensions":{"distractor":{"count":31,"items":[{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_0","position":[-0.19198955778395388,-0.0006491540220756598,0.71338606911949],"aabb_xy":[[-0.21448955779410217,-0.01474537366167894],[-0.1694895577738056,0.01344706561752762]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_1","position":[-0.4508523641579692,-0.1945046094602607,0.71338606911949],"aabb_xy":[[-0.5308523652310895,-0.20428265579764515],[-0.3708523630848489,-0.18472656312287628]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_2","position":[-0.37239233044345116,-0.4543828287241065,0.71338606911949],"aabb_xy":[[-0.44239233225219665,-0.4757365974882939],[-0.3023923286347058,-0.43302905995991914]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_3","position":[0.5030641190312837,0.5464666606971686,0.71338606911949],"aabb_xy":[[0.46556411751565197,0.5352398876810235],[0.5405641205469154,0.5576934337133136]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_4","position":[0.614220922531501,-2.3190543200593923,0.71338606911949],"aabb_xy":[[0.6078071088883159,-2.32546414030706],[0.6206347361746858,-2.3126444998117237]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_5","position":[0.35059948871940927,0.5964153135262009,0.71338606911949],"aabb_xy":[[0.31309948822205097,0.5924466299780825],[0.38809948921676746,0.6003839970743193]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_6","position":[0.6033062804640035,-1.7487273232334144,0.71338606911949],"aabb_xy":[[0.5783062812983704,-1.755679568938771],[0.6283062796296366,-1.7417750775280578]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_7","position":[0.0998250632151717,1.3103972916324045,0.71338606911949],"aabb_xy":[[0.09436711757815164,1.2303972883247454],[0.10528300885219177,1.3903972949400636]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_8","position":[0.6587952341161118,0.12259475934271125,0.71338606911949],"aabb_xy":[[0.6505806890004276,0.11391816904506996],[0.6670097792317956,0.13127134964035253]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_9","position":[0.5093981812592934,-1.6424769661131933,0.71338606911949],"aabb_xy":[[0.45939818089872725,-1.692456953322796],[0.5593981816198593,-1.59249697890359]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_10","position":[0.42077128854373624,-0.6014806043394025,0.71338606911949],"aabb_xy":[[0.3370490630436538,-0.6914806078740985],[0.5044935140438187,-0.5114806008047066]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_11","position":[0.08102574242268223,-2.0683376101577635,0.71338606911949],"aabb_xy":[[0.017025739132974126,-2.1116725291616807],[0.14502574571239035,-2.0250026911538455]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_12","position":[0.003483806056544081,-1.1396496907852036,0.71338606911949],"aabb_xy":[[-0.07651619720129887,-1.2196461985771876],[0.08348380931438704,-1.0596531829932196]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_13","position":[0.08709992946926337,1.540523846520728,0.71338606911949],"aabb_xy":[[0.02309993029949343,1.4937571594017656],[0.15109992863903332,1.5872905336396905]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_14","position":[-0.04402262143212776,-0.12534158143472984,0.71338606911949],"aabb_xy":[[-0.07848509944521553,-0.13200525861765264],[-0.00956014341903999,-0.11867790425180699]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_15","position":[-0.11807952523349663,1.2299742280875519,0.71338606911949],"aabb_xy":[[-0.15267060808754185,1.1649742278025206],[-0.08348844237945141,1.2949742283725827]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_16","position":[0.2592271679513901,-1.0011263054193955,0.71338606911949],"aabb_xy":[[0.2217271680076237,-1.009419395454232],[0.2967271678951565,-0.9928332153845589]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_17","position":[0.5270356724659822,-2.5691605816490037,0.71338606911949],"aabb_xy":[[0.4370356738715122,-2.5854111679624254],[0.6170356710604521,-2.552909995335583]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_18","position":[0.4722353472478449,-0.8256081964795732,0.71338606911949],"aabb_xy":[[0.4251059682460091,-0.889608197523975],[0.5193647262496804,-0.7616081954351711]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_19","position":[-0.1385291106728167,1.380898490900273,0.71338606911949],"aabb_xy":[[-0.16849666758264237,1.3508984906023873],[-0.10856155376299104,1.4108984911981588]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_20","position":[-0.40135671568165227,-0.9739957996285054,0.71338606911949],"aabb_xy":[[-0.4242724285667022,-0.996900096764929],[-0.3784410027966024,-0.951091502492082]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_21","position":[0.06090519638643077,-2.45315323466108,0.71338606911949],"aabb_xy":[[0.049999420298868044,-2.533153231059909],[0.07181097247399347,-2.3731532382622507]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_22","position":[-0.3348284307714365,-1.634499960344868,0.71338606911949],"aabb_xy":[[-0.37162306389634275,-1.6714058354414503],[-0.2980337976465302,-1.5975940852482857]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_23","position":[-0.5128251660576927,0.953241875690749,0.71338606911949],"aabb_xy":[[-0.5928251630719407,0.9331073240173378],[-0.4328251690434447,0.9733764273641603]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_24","position":[-0.13941891181636856,-2.016639426418286,0.71338606911949],"aabb_xy":[[-0.17441891316785027,-2.0369991623751065],[-0.10441891046488681,-1.996279690461465]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_25","position":[-0.17025316085026632,1.0095156102544052,0.71338606911949],"aabb_xy":[[-0.1750967556114963,1.004663957775421],[-0.16540956608903634,1.0143672627333893]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_26","position":[-0.4685705714173582,1.6662086011611827,0.71338606911949],"aabb_xy":[[-0.4805033057791862,1.6538264483533236],[-0.45663783705553007,1.6785907539690423]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_27","position":[0.42671245210815245,-2.358322938933963,0.71338606911949],"aabb_xy":[[0.36271245352158,-2.405329902333471],[0.4907124506947249,-2.3113159755344537]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_28","position":[0.6948978121529648,-2.4971764637420413,0.71338606911949],"aabb_xy":[[0.6888031842648464,-2.5057458582937095],[0.7009924400410831,-2.488607069190372]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_29","position":[-0.4969800657435286,0.8027339388047001,0.71338606911949],"aabb_xy":[[-0.5130419932020462,0.7177339369921082],[-0.48091813828501095,0.8877339406172918]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_30","position":[-0.36284637611773063,1.398152603375003,0.71338606911949],"aabb_xy":[[-0.4428401996962889,1.3181526007821616],[-0.28285255253917246,1.4781526059678447]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6915068433549781,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8373.png","name":"8373"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8373.png","name":"8373"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5465.png","name":"5465"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3655.png","name":"3655"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4615.png","name":"4615"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8309.png","name":"8309"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":722.0623281805961,"rotation_z_degrees":129.95338209177493,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008594600267840464,0.012088455541086802,0.010854127031490544]},{"name":"camera_2","offset_m":[0.018636265044680123,-0.014769726648551217,-0.004278852736904325]},{"name":"camera_3","offset_m":[-0.01249370179137038,0.008072612439799839,0.009515426835542695]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009906847067284738,-0.00039837346814369833,-0.0004169730060581021],"end_effector_yaw_offset_degrees":-0.6967566715220685},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-3.976364513255323e-05,0.000211610293716281,-0.0019685213022717887],"end_effector_yaw_offset_degrees":-0.6944677069931169},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005651650594515173,0.0001789585585741959,0.0007748316292967802],"end_effector_yaw_offset_degrees":0.9665894857427106}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003955924336055963,0.003338359071785083],"position_m":[0.28285592433605594,-0.11436164092821492,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0024121877403280815,-0.0017374692743815545],"position_m":[0.2289121877403281,-0.4109374692743816,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0043997406390294145,-0.0006766674157796977],"position_m":[0.35699974063902945,0.06532333258422031,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0007194610096651734,-0.0009863091754906753],"position_m":[0.3414805389903348,0.3229136908245093,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8f95bf1c9e0da1bb61ebceb9baeaaf60d810006806ae43ce95f8523b87a83a36","episode_index":11,"episode_name":"episode_0011"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0011.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_8373/tex_ceiling_textures_8309/tex_floor_textures_4615/tex_table_textures_5465/tex_wall_textures_3655","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":5718627582455841183,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":5718627582455841183,"visual_seed":5718627582455841183,"scene_id":"lab_003","finished_at":"2026-09-04T00:02:08"} +{"episode_id":"ep_000012","started_at":"2026-09-04T00:02:13","dimensions":{"distractor":{"count":33,"items":[{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_0","position":[-0.6214679167242712,1.4966981381917468,0.71338606911949],"aabb_xy":[[-0.6589679166680376,1.4884050481569104],[-0.5839679167805047,1.5049912282265836]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_1","position":[0.44361829579750234,1.4140034123440626,0.71338606911949],"aabb_xy":[[0.3936340600893251,1.364003413530567],[0.49360253150567956,1.4640034111575582]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_2","position":[-0.10094616236395881,-1.1508640010495768,0.71338606911949],"aabb_xy":[[-0.13844616218099237,-1.1555022123607184],[-0.06344616254692524,-1.1462257897384347]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_3","position":[-0.02184109403985046,0.92592875404925,0.71338606911949],"aabb_xy":[[-0.038751826476192235,0.9124565484566354],[-0.004930361603508681,0.9394009596418644]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_4","position":[0.3101086295894018,-1.5747185139881061,0.71338606911949],"aabb_xy":[[0.2201086328537915,-1.6279019773054009],[0.40010862632501193,-1.5215350506708119]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_5","position":[-0.13767105485466657,-0.3222615722068398,0.71338606911949],"aabb_xy":[[-0.20167105676700892,-0.3781727214648503],[-0.07367105294232423,-0.26635042294882944]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_6","position":[-0.3183969111718345,-2.2938175756403423,0.71338606911949],"aabb_xy":[[-0.3823969144615426,-2.3371524946442594],[-0.2543969078821264,-2.250482656636424]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_7","position":[0.2679564841221882,-0.7449013941746361,0.71338606911949],"aabb_xy":[[0.25535378498511174,-0.7574967903995016],[0.28055918325926466,-0.7323059979497706]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_8","position":[0.41773530087106603,-0.6820347679626859,0.71338606911949],"aabb_xy":[[0.3677404679431245,-0.7320347668579293],[0.4677301337990077,-0.6320347690674423]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_9","position":[-0.5529097774989982,0.6813081631047271,0.71338606911949],"aabb_xy":[[-0.6329097749025916,0.6013155919065442],[-0.4729097800954048,0.7613007343029098]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_10","position":[0.05035771662498423,-1.5715720516676408,0.71338606911949],"aabb_xy":[[0.045722601472750826,-1.575439386744789],[0.0549928317772176,-1.5677047165904918]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_11","position":[-0.29894439939193485,0.806159488186724,0.71338606911949],"aabb_xy":[[-0.3241652362517744,0.7809357373338371],[-0.27372356253209507,0.8313832390396106]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_12","position":[0.3467499786566497,1.1754469275615813,0.71338606911949],"aabb_xy":[[0.2867499781487967,1.1186001938756596],[0.40674997916450256,1.2322936612475022]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_13","position":[-0.0856655049588324,0.5073245841224878,0.71338606911949],"aabb_xy":[[-0.09170251795949713,0.5012978830535397],[-0.07962849195816768,0.5133512851914361]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_14","position":[0.08288716293940113,-1.330018931339569,0.71338606911949],"aabb_xy":[[0.049407995678360205,-1.363498044710676],[0.11636633020044208,-1.296539817968462]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_15","position":[0.5342833515109999,1.0575387826645026,0.71338606911949],"aabb_xy":[[0.4492833530935767,0.9726644872022177],[0.6192833499284232,1.1424130781267876]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_16","position":[0.48522952919447837,-0.37378603175749125,0.71338606911949],"aabb_xy":[[0.46068331357172765,-0.4040349283065283],[0.5097757448172291,-0.3435371352084542]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_17","position":[0.5327407134044793,0.5431421642422389,0.71338606911949],"aabb_xy":[[0.4627407118021998,0.5297093710405814],[0.6027407150067587,0.5565749574438965]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_18","position":[-0.06383385284348453,-1.446702509922965,0.71338606911949],"aabb_xy":[[-0.07728037947752786,-1.4601723615760562],[-0.0503873262094412,-1.4332326582698736]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_19","position":[-0.6210700012527355,-0.7319700782583991,0.71338606911949],"aabb_xy":[[-0.6810700028956573,-0.7839702275503433],[-0.5610699996098136,-0.6799699289664549]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_20","position":[-0.14073335047999835,0.40758736454591515,0.71338606911949],"aabb_xy":[[-0.2107333522887438,0.3862335957817278],[-0.07073334867125292,0.42894113331010253]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_21","position":[0.04675388916567946,-0.9795845536817802,0.71338606911949],"aabb_xy":[[-0.043246113168339595,-1.057066908266893],[0.13675389149969852,-0.9021021990966677]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_22","position":[0.541366338438285,-1.884566423199907,0.71338606911949],"aabb_xy":[[0.5210820357148861,-1.9048490483426157],[0.5616506411616836,-1.864283798057198]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_23","position":[-0.13278836325937227,-2.162019952362791,0.71338606911949],"aabb_xy":[[-0.15778836281111075,-2.172162436227926],[-0.10778836370763378,-2.1518774684976565]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_24","position":[0.4569179610060996,-1.2970048544745394,0.71338606911949],"aabb_xy":[[0.43441796049405895,-1.3194967128399375],[0.47941796151814015,-1.2745129961091408]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_25","position":[0.5556893983689302,-1.302955807490185,0.71338606911949],"aabb_xy":[[0.5476530636676453,-1.3109939267946018],[0.563725733070215,-1.2949176881857682]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_26","position":[0.09843684952433329,1.6301060921646386,0.71338606911949],"aabb_xy":[[0.08766387560296551,1.5951060939455997],[0.10920982344570107,1.6651060903836776]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_27","position":[-0.36444592102487733,-1.7818275310317415,0.71338606911949],"aabb_xy":[[-0.42944592198200454,-1.833775742965447],[-0.2994459200677501,-1.729879319098036]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_28","position":[-0.16402812443406567,0.8711516622900382,0.71338606911949],"aabb_xy":[[-0.2015281249314239,0.8671829787419197],[-0.12652812393670743,0.8751203458381566]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_29","position":[-0.6108038036389811,-2.433745967226485,0.71338606911949],"aabb_xy":[[-0.6608038046581165,-2.470212182964313],[-0.560803802619846,-2.3972797514886572]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_30","position":[-0.23852133034841405,1.7434297778431698,0.71338606911949],"aabb_xy":[[-0.261437043233464,1.7205254807067465],[-0.2156056174633642,1.7663340749795935]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_31","position":[-0.42596528533018385,0.3886252836475408,0.71338606911949],"aabb_xy":[[-0.4495504087940787,0.323625281402109],[-0.402380161866289,0.4536252858929726]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_32","position":[-0.2309960487766589,0.10668982357567725,0.71338606911949],"aabb_xy":[[-0.23899003735436228,0.09868974348058687],[-0.2230020601989555,0.11468990367076756]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6937776426095288,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4699.png","name":"4699"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4699.png","name":"4699"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8390.png","name":"8390"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8367.png","name":"8367"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/630.png","name":"630"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6072.png","name":"6072"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":606.8796653784831,"rotation_z_degrees":309.97895053980113,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00025492263778441673,0.007767306222365749,0.005337035061967765]},{"name":"camera_2","offset_m":[0.005839432010045383,-0.01767506275394304,-0.008120947012873922]},{"name":"camera_3","offset_m":[0.019628207269700656,-0.007208717230608586,0.01003116151081979]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00015589709800563432,-0.0012057848852685482,0.00023389338412014822],"end_effector_yaw_offset_degrees":-0.586689223918232},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-8.779290300681922e-06,-0.001446246124785566,0.0006552506555887517],"end_effector_yaw_offset_degrees":0.5707953975929401},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005873437570780055,0.001820505397850212,0.0013239063901041115],"end_effector_yaw_offset_degrees":0.7307458692966482}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003409134861034685,-0.002042340610356075],"position_m":[0.28230913486103465,-0.11974234061035607,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003860588000835414,-0.0011242492957872895],"position_m":[0.2226394119991646,-0.4103242492957873,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002989685145273888,-0.0012646720033618365],"position_m":[0.34961031485472616,0.06473532799663817,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0010047210786998306,0.004379964807968514],"position_m":[0.3411952789213002,0.32827996480796856,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d0eda5599071633b2b00cb3c8e275e98d953eff687607aff9634cf76b9e76e3f","episode_index":12,"episode_name":"episode_0012"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0012.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_4699/tex_ceiling_textures_6072/tex_floor_textures_630/tex_table_textures_8390/tex_wall_textures_8367","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":30073532035770908,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":30073532035770908,"visual_seed":30073532035770908,"scene_id":"lab_003","finished_at":"2026-09-04T00:04:47"} +{"episode_id":"ep_000013","started_at":"2026-09-04T00:04:50","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_0","position":[-0.4189511100586737,1.1757424054004546,0.71338606911949],"aabb_xy":[[-0.4641224279068427,1.1117424082559162],[-0.3737797922105047,1.239742402544993]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_1","position":[0.15028828152623064,0.7477967631841977,0.71338606911949],"aabb_xy":[[0.10029516941703875,0.6977967625100022],[0.20028139363542255,0.7977967638583936]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_2","position":[0.05822208629581149,1.1769854716623138,0.71338606911949],"aabb_xy":[[0.0030968806662207134,1.1169854702210267],[0.11334729192540226,1.236985473103601]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_3","position":[-0.25046887941171647,-2.031923768343417,0.71338606911949],"aabb_xy":[[-0.2740540028756113,-2.0969237705888486],[-0.22688375594782162,-1.966923766097985]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_4","position":[0.16154637469193966,1.348512727035457,0.71338606911949],"aabb_xy":[[0.13114826359279605,1.3181058250337874],[0.19194448579108322,1.3789196290371264]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_5","position":[0.6406794126986712,-1.4629006923517514,0.71338606911949],"aabb_xy":[[0.6038288647616837,-1.5004006931747849],[0.677529960635659,-1.4254006915287174]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_6","position":[0.18010485230001394,-2.5356523218525138,0.71338606911949],"aabb_xy":[[0.16260485205496455,-2.55315210969208],[0.19760485254506333,-2.5181525340129465]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_7","position":[-0.4760057007726074,1.6689518510864683,0.71338606911949],"aabb_xy":[[-0.5104680481707491,1.6344579686886451],[-0.4415433533744656,1.7034457334842905]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_8","position":[0.21399499471151007,-1.4544702437713455,0.71338606911949],"aabb_xy":[[0.12430791840339464,-1.544470244025796],[0.3036820710196255,-1.364470243516895]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_9","position":[0.1105619623843529,-2.535217571355614,0.71338606911949],"aabb_xy":[[0.1033007148139455,-2.5480045816191237],[0.11782320995476032,-2.5224305610921047]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_10","position":[0.6529482328739786,-2.4362733446197384,0.71338606911949],"aabb_xy":[[0.6362710968808832,-2.4529732685936687],[0.6696253688670742,-2.419573420645808]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_11","position":[-0.5208596461380445,-2.4335355032155648,0.71338606911949],"aabb_xy":[[-0.5458596460705624,-2.4404181714364883],[-0.4958596462055266,-2.4266528349946412]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_12","position":[0.042233704444627596,-2.3063102039778083,0.71338606911949],"aabb_xy":[[-0.0077662942012936,-2.3562297476372707],[0.09223370309054879,-2.256390660318346]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_13","position":[0.48574953569792867,-2.198428920684227,0.71338606911949],"aabb_xy":[[0.4706472342369104,-2.213530442315288],[0.5008518371589465,-2.183327399053164]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_14","position":[-0.12722414908545165,-1.2347229127871473,0.71338606911949],"aabb_xy":[[-0.16472414925732357,-1.2674236481700543],[-0.08972414891357969,-1.2020221774042399]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_15","position":[0.08013429930713012,1.8160811435182596,0.71338606911949],"aabb_xy":[[0.07191975419144613,1.8074045532206182],[0.08834884442281409,1.824757733815901]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_16","position":[-0.5479197894816884,-1.3257946385345845,0.71338606911949],"aabb_xy":[[-0.5708355023667384,-1.348698935671008],[-0.5250040765966386,-1.302890341398161]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_17","position":[-0.59354755375887,-1.9914300045836382,0.71338606911949],"aabb_xy":[[-0.5995140926996059,-1.997391149243002],[-0.5875810148181342,-1.9854688599242738]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_18","position":[0.2388108728767061,-0.784569612219741,0.71338606911949],"aabb_xy":[[0.23396727811547613,-0.7894212646987252],[0.24365446763793608,-0.779717959740757]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_19","position":[-0.6532872490106539,0.445022428493961,0.71338606911949],"aabb_xy":[[-0.6609115171008323,0.43738920495741745],[-0.6456629809204758,0.4526556520305049]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_20","position":[-0.6296252094799515,1.1546618800868922,0.71338606911949],"aabb_xy":[[-0.6392568457003811,1.1450245673071833],[-0.6199935732595219,1.164299192866601]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_21","position":[0.3802604292360172,1.4851859324061105,0.71338606911949],"aabb_xy":[[0.3002604318324237,1.4051933612079275],[0.46026042663961053,1.5651785036042931]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_22","position":[-0.472089423905085,1.3967269033794634,0.71338606911949],"aabb_xy":[[-0.4846921230421615,1.384131507154598],[-0.4594867247680086,1.409322299604329]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_23","position":[-0.6823052027980099,-1.9603469645771279,0.71338606911949],"aabb_xy":[[-0.6887190164411947,-1.9667567848247958],[-0.6758913891548248,-1.953937144329459]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_24","position":[-0.19523345729786462,-0.5849751218416377,0.71338606911949],"aabb_xy":[[-0.24523345858170456,-0.6349539762322598],[-0.14523345601402463,-0.5349962674510156]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_25","position":[-0.5321995840214262,0.3428475724100366,0.71338606911949],"aabb_xy":[[-0.5605292939699665,0.3383868302163196],[-0.5038698740728861,0.3473083146037537]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_26","position":[-0.004011911126308276,-0.9804121645982387,0.71338606911949],"aabb_xy":[[-0.09401191084948245,-1.003485517133418],[0.0859880885968659,-0.9573388120630585]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_27","position":[0.6367709015640186,1.4913083259240527,0.71338606911949],"aabb_xy":[[0.5999762684391123,1.4544024508274704],[0.6735655346889249,1.528214201020635]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_28","position":[-0.4998152770101659,-2.0804875886935887,0.71338606911949],"aabb_xy":[[-0.5309621958537489,-2.150487587380396],[-0.4686683581665827,-2.0104875900067816]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6898825969143116,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7409.png","name":"7409"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7409.png","name":"7409"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4276.png","name":"4276"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8874.png","name":"8874"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2932.png","name":"2932"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8503.png","name":"8503"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":619.6896227287973,"rotation_z_degrees":328.23305942601996,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011741403161596886,0.007831365189924111,0.016406469720943975]},{"name":"camera_2","offset_m":[-0.0047953135153253786,0.017200717424884413,-0.0153663770973764]},{"name":"camera_3","offset_m":[-0.007364537309894215,-0.01250952994487618,-0.0022129393192987443]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00032312889653213174,-0.0016480448538302116,0.0017381851483965157],"end_effector_yaw_offset_degrees":0.3924493935289022},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008921972285762271,0.00018442518317890065,0.0006927434233958076],"end_effector_yaw_offset_degrees":-0.12385172645959974},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013429031553689906,0.0013703921815041058,-0.00032746583232743645],"end_effector_yaw_offset_degrees":0.6772336497749383}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0010118648260400986,-0.0011705410993607568],"position_m":[0.2799118648260401,-0.11887054109936075,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0016457146165310514,0.0037154394469261593],"position_m":[0.22814571461653105,-0.40548456055307386,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004091121427742326,-0.004375542772513534],"position_m":[0.3485088785722577,0.06162445722748647,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002065735908641401,-0.0019152733205039306],"position_m":[0.3401342640913586,0.32198472667949607,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"063a782f8b6bb29cfe14c9ac77592fb5608d4a34f0c9f636e23edf4ed5e04324","episode_index":13,"episode_name":"episode_0013"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0013.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_7409/tex_ceiling_textures_8503/tex_floor_textures_2932/tex_table_textures_4276/tex_wall_textures_8874","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":1178361793073280422,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":1178361793073280422,"visual_seed":1178361793073280422,"scene_id":"lab_003","finished_at":"2026-09-04T00:07:29"} +{"episode_id":"ep_000014","started_at":"2026-09-04T00:07:32","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_0","position":[0.3117512202201831,-0.8965226949288148,0.71338606911949],"aabb_xy":[[0.27525539959290435,-0.9330066373555722],[0.34824704084746183,-0.8600387525020571]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_1","position":[-0.36726689408446717,0.6766231556894557,0.71338606911949],"aabb_xy":[[-0.4372668967210534,0.6565182906935901],[-0.2972668914478807,0.6967280206853211]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_2","position":[0.0077000295730329515,0.9971737510636234,0.71338606911949],"aabb_xy":[[0.0035641732403327584,0.9596737516192664],[0.011835885905733146,1.0346737505079804]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_3","position":[-0.6296800983300083,0.9376176074717195,0.71338606911949],"aabb_xy":[[-0.6425520018309483,0.8576176070578833],[-0.616808194829068,1.0176176078855554]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_4","position":[0.14363489702538978,0.9531571176180789,0.71338606911949],"aabb_xy":[[0.1266247997353391,0.9370226291198049],[0.1606449943154404,0.9692916061163528]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_5","position":[-0.34996260333788826,1.3905505440957593,0.71338606911949],"aabb_xy":[[-0.354040761244938,1.3864695638474962],[-0.3458844454308385,1.3946315243440228]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_6","position":[0.6452838671105026,1.4293072903435102,0.71338606911949],"aabb_xy":[[0.6147996169834724,1.379307290562014],[0.6757681172375327,1.479307290125006]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_7","position":[-0.6177701558087072,0.7809115778392584,0.71338606911949],"aabb_xy":[[-0.6217306395784415,0.7732437132537378],[-0.6138096720389729,0.788579442424779]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_8","position":[0.6569008017646623,0.4988169809157412,0.71338606911949],"aabb_xy":[[0.6344008012526217,0.47632512255034287],[0.6794008022767029,0.5213088392811396]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_9","position":[0.48092178205659764,0.12296303699307787,0.71338606911949],"aabb_xy":[[0.4546329577361569,0.09669160333842662],[0.5072106063770382,0.14923447064772907]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_10","position":[0.16947959477503138,1.222338795562934,0.71338606911949],"aabb_xy":[[0.11950217790977778,1.1723387940736851],[0.21945701164028494,1.2723387970521822]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_11","position":[-0.4368620748572219,-1.6041697825434373,0.71338606911949],"aabb_xy":[[-0.4968620754532381,-1.6589822550886608],[-0.3768620742612057,-1.5493573099982139]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_12","position":[-0.10069852820895264,0.7594498400351246,0.71338606911949],"aabb_xy":[[-0.16569852920945316,0.7086634748804497],[-0.035698527208452124,0.8102362051897996]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_13","position":[-0.19570734688763775,-2.237279108119646,0.71338606911949],"aabb_xy":[[-0.2027476568211748,-2.317279107519318],[-0.1886670369541008,-2.157279108719975]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_14","position":[-0.099009265419017,1.790345347072392,0.71338606911949],"aabb_xy":[[-0.10713695361233022,1.7814317386616842],[-0.09088157722570378,1.7992589554830998]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_15","position":[0.07821290142762016,-2.318492376334919,0.71338606911949],"aabb_xy":[[0.028212900143780206,-2.368471230725541],[0.12821290271146013,-2.2685135219442967]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_16","position":[0.1827840727935166,-1.2606431763887778,0.71338606911949],"aabb_xy":[[0.17515980470333836,-1.2682763999253213],[0.19040834088369488,-1.2530099528522338]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_17","position":[0.522692644351308,-0.9034546349545445,0.71338606911949],"aabb_xy":[[0.44269264694771454,-0.9834472061527273],[0.6026926417549013,-0.8234620637563617]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_18","position":[-0.21875966158644072,0.4444999454244485,0.71338606911949],"aabb_xy":[[-0.3024818870865232,0.3544999418897526],[-0.13503743608635826,0.5344999489591444]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_19","position":[-0.50837045491431,-1.4052948918128696,0.71338606911949],"aabb_xy":[[-0.5192762310018727,-1.4852948882116985],[-0.4974646788267473,-1.3252948954140402]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_20","position":[0.5744408344398697,-2.4748718066014037,0.71338606911949],"aabb_xy":[[0.5566473275049533,-2.4926715521972014],[0.5922343413747861,-2.457072061005606]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_21","position":[-0.4438216354693475,-0.7444201512663584,0.71338606911949],"aabb_xy":[[-0.4638800470825878,-0.764485238175516],[-0.4237632238561072,-0.7243550643572009]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_22","position":[0.5931804000853016,1.6187135041538911,0.71338606911949],"aabb_xy":[[0.5131803990121813,1.6089354578165067],[0.6731804011584219,1.6284915504912756]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_23","position":[-0.3066843111967548,-0.3042876046639953,0.71338606911949],"aabb_xy":[[-0.31915166930649047,-0.3167529292973188],[-0.2942169530870192,-0.2918222800306718]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_24","position":[-0.17925427091092683,0.9614486526374444,0.71338606911949],"aabb_xy":[[-0.18717755114967513,0.938948652399441],[-0.17133099067217847,0.9839486528754477]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6970094539250843,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3315.png","name":"3315"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3315.png","name":"3315"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9700.png","name":"9700"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6275.png","name":"6275"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1939.png","name":"1939"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/196.png","name":"196"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":557.5390430688344,"rotation_z_degrees":134.28740405860057,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013792499543504342,-0.01984898671367793,0.011673956273250904]},{"name":"camera_2","offset_m":[0.0035809615955924544,0.005581469260090857,-0.01036118438385266]},{"name":"camera_3","offset_m":[0.01236281236710932,0.003467594073512187,0.006557477002050213]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018278963731325395,0.0011261943682402032,-0.0001788902357825544],"end_effector_yaw_offset_degrees":0.44011433098841657},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013793465341947254,0.0002466625738955326,-0.0002719802692189104],"end_effector_yaw_offset_degrees":0.91757866740774},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00017132309529178848,-0.0006584239247453491,0.0019157880863461428],"end_effector_yaw_offset_degrees":0.6533650677141047}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002447222958874009,0.004899612736105736],"position_m":[0.276452777041126,-0.11280038726389427,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004457273728042812,-0.0016192452175977957],"position_m":[0.2220427262719572,-0.41081924521759783,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0005881173031630571,0.0009637416010932183],"position_m":[0.352011882696837,0.06696374160109322,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0035820413476644304,0.0026496029723480944],"position_m":[0.34578204134766444,0.32654960297234814,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d5217ed7d90cc94d14c4c425dcadd053c957246e23ca9ef4dd6e7c7b9eeb31ec","episode_index":14,"episode_name":"episode_0014"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0014.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_3315/tex_ceiling_textures_196/tex_floor_textures_1939/tex_table_textures_9700/tex_wall_textures_6275","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":5191465986780708593,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":5191465986780708593,"visual_seed":5191465986780708593,"scene_id":"lab_003","finished_at":"2026-09-04T00:10:14"} +{"episode_id":"ep_000015","started_at":"2026-09-04T00:10:18","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_0","position":[-0.08671625249189951,-0.9616157780181984,0.71338606911949],"aabb_xy":[[-0.14171625069364432,-1.002137744644636],[-0.03171625429015467,-0.9210938113917609]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_1","position":[-0.6002002907171634,1.4336594837565024,0.71338606911949],"aabb_xy":[[-0.609831926937593,1.4240221709767933],[-0.5905686544967338,1.4432967965362111]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_2","position":[0.38767125837127225,0.48821265812159576,0.71338606911949],"aabb_xy":[[0.35652433952768914,0.41821265943478847],[0.41881817721485537,0.5582126568084028]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_3","position":[0.5371995099477509,-1.1473508872433134,0.71338606911949],"aabb_xy":[[0.46719950781632125,-1.1701128528690088],[0.6071995120791803,-1.1245889216176175]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_4","position":[0.3812961883237933,-1.8186433132387103,0.71338606911949],"aabb_xy":[[0.34379618803161843,-1.8226847886393138],[0.41879618861596807,-1.8146018378381068]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_5","position":[-0.4802338940733051,-1.7448406594728814,0.71338606911949],"aabb_xy":[[-0.5652338927653796,-1.7768265228677602],[-0.3952338953812303,-1.7128547960780025]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_6","position":[-0.2657004698038706,0.16580358858002375,0.71338606911949],"aabb_xy":[[-0.2775725528153717,0.08080358888637343],[-0.25382838679236946,0.2508035882736741]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_7","position":[-0.58132704878516,-0.8768247194303151,0.71338606911949],"aabb_xy":[[-0.6313270500689999,-0.9268035738209373],[-0.53132704750132,-0.826845865039693]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_8","position":[-0.5039009714053466,-1.0561938917584688,0.71338606911949],"aabb_xy":[[-0.5539002465737828,-1.106193893034416],[-0.45390169623691046,-1.0061938904825216]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_9","position":[0.6247654392490303,1.3050262434380566,0.71338606911949],"aabb_xy":[[0.6177251293154934,1.2250262440383854],[0.6318057491825674,1.3850262428377282]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_10","position":[-0.5285870767174213,0.8416143172723705,0.71338606911949],"aabb_xy":[[-0.5925870769913996,0.7915482170750825],[-0.4645870764434431,0.8916804174696584]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_11","position":[-0.2008241958911387,-0.6494436381592448,0.71338606911949],"aabb_xy":[[-0.23130844601816886,-0.6994436379407407],[-0.17033994576410855,-0.5994436383777488]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_12","position":[-0.05689810945851104,1.3938955212552928,0.71338606911949],"aabb_xy":[[-0.1406203349585935,1.3038955177205969],[0.026824116041571436,1.4838955247899888]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_13","position":[0.605784722106026,-0.47492738043949334,0.71338606911949],"aabb_xy":[[0.5407847211488986,-0.5268755923731988],[0.6707847230631531,-0.4229791685057877]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_14","position":[-0.04594620623246448,1.6812071731304283,0.71338606911949],"aabb_xy":[[-0.056797812481340075,1.670347882402777],[-0.035094599983588874,1.6920664638580791]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_15","position":[0.2167289382665626,-0.6635523462974913,0.71338606911949],"aabb_xy":[[0.16173346044590317,-0.7185523477313981],[0.271724416087222,-0.6085523448635842]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_16","position":[-0.6006943990404412,-0.295486468034869,0.71338606911949],"aabb_xy":[[-0.6126271334022693,-0.30786862084272837],[-0.5887616646786131,-0.28310431522700963]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_17","position":[-0.6213509372173684,0.9856060111734668,0.71338606911949],"aabb_xy":[[-0.6853509345197147,0.9412395842056102],[-0.5573509399150219,1.0299724381413236]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_18","position":[0.19794316690402547,0.5983998574300586,0.71338606911949],"aabb_xy":[[0.1593974740788244,0.55985408637387],[0.23648885972922648,0.6369456284862473]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_19","position":[-0.3626792096513618,-2.5131150353763037,0.71338606911949],"aabb_xy":[[-0.4048636238121926,-2.5771150356535153],[-0.3204947954905311,-2.449115035099093]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_20","position":[-0.18503761002127195,-1.8638082998290793,0.71338606911949],"aabb_xy":[[-0.2345180312352307,-1.9278082977419313],[-0.13555718880731313,-1.7998083019162276]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_21","position":[0.5027982690888961,-1.9811524794960307,0.71338606911949],"aabb_xy":[[0.4724001579897525,-2.0115593814977],[0.5331963801880396,-1.9507455774943612]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_22","position":[0.08056860446205916,-1.9807583359228436,0.71338606911949],"aabb_xy":[[0.025568605285469656,-2.035748010697801],[0.13556860363864864,-1.925768661147886]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6978493821961107,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9629.png","name":"9629"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9629.png","name":"9629"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5162.png","name":"5162"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8154.png","name":"8154"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2497.png","name":"2497"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3964.png","name":"3964"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":522.2800675402648,"rotation_z_degrees":114.94549859784948,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016915318189099787,-0.01565084368275244,-0.011000103742354965]},{"name":"camera_2","offset_m":[-0.008555058716210926,0.012582387741193943,0.019736073311407375]},{"name":"camera_3","offset_m":[-0.01626792247637789,-0.010955070467607561,-0.016337535299291002]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00017531543778122587,-0.0005856703816172471,-0.0008489773749339236],"end_effector_yaw_offset_degrees":0.36651738582482474},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011297630872630039,-2.5226240798007123e-05,0.0014948976055319469],"end_effector_yaw_offset_degrees":-0.5364462480183796},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001536419211908788,0.0006885677625176295,-0.000910464800815101],"end_effector_yaw_offset_degrees":-0.5375534148039156}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003347717145143622,0.004011654018681741],"position_m":[0.28224771714514363,-0.11368834598131826,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0019258806703271493,-0.00020073477099785426],"position_m":[0.22842588067032715,-0.40940073477099787,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004980517968731505,4.159962499218368e-05],"position_m":[0.3476194820312685,0.06604159962499219,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0048005319464885345,0.0021430808495225395],"position_m":[0.34700053194648856,0.32604308084952255,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d67f4808b06f18ba1558dfe77735d24a28dd113e023479f445c0b0a102d61295","episode_index":15,"episode_name":"episode_0015"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0015.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_9629/tex_ceiling_textures_3964/tex_floor_textures_2497/tex_table_textures_5162/tex_wall_textures_8154","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":661549017604429334,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":661549017604429334,"visual_seed":661549017604429334,"scene_id":"lab_003","finished_at":"2026-09-04T00:12:49"} +{"episode_id":"ep_000016","started_at":"2026-09-04T00:12:52","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_0","position":[0.634812642369609,-2.306841957271783,0.71338606911949],"aabb_xy":[[0.62424516271151,-2.3173869873847917],[0.645380122027708,-2.2962969271587745]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_1","position":[0.5728012572225678,-0.34333245038217575,0.71338606911949],"aabb_xy":[[0.4928012592417828,-0.3509339913440277],[0.6528012552033529,-0.3357309094203238]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_2","position":[0.15859665811242174,-1.1545537397049817,0.71338606911949],"aabb_xy":[[0.1506733778736734,-1.177053739942985],[0.16651993835117007,-1.1320537394669783]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_3","position":[-0.11758199534885361,1.0100938322107411,0.71338606911949],"aabb_xy":[[-0.15508199377225393,0.9969296182429103],[-0.08008199692545323,1.0232580461785716]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_4","position":[0.5992482596038733,-0.564437359081261,0.71338606911949],"aabb_xy":[[0.5729594352834326,-0.5907087927359123],[0.625537083924314,-0.5381659254266098]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_5","position":[0.7167188936827553,-0.9321178180946399,0.71338606911949],"aabb_xy":[[0.7130156323536162,-0.9358198364033576],[0.720422155011894,-0.9284157997859219]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_6","position":[0.5359451474313728,0.1630932101328253,0.71338606911949],"aabb_xy":[[0.5310458551248092,0.1354162908302565],[0.5408444397379362,0.19077012943539404]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_7","position":[0.3027302926608362,1.6469105588896835,0.71338606911949],"aabb_xy":[[0.28928376602679284,1.6334407072365922],[0.3161768192948795,1.6603804105427749]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_8","position":[0.6191152008177991,-1.1507925850868408,0.71338606911949],"aabb_xy":[[0.5391151993876719,-1.23030974009945],[0.6991152022479263,-1.071275430074231]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_9","position":[-0.2116332954760965,-2.335800150224215,0.71338606911949],"aabb_xy":[[-0.24913329582432422,-2.3475915458052983],[-0.1741332951278687,-2.324008754643131]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_10","position":[-0.3285907407894067,-2.0200735140232875,0.71338606911949],"aabb_xy":[[-0.40859074186252703,-2.029851560360672],[-0.24859073971628637,-2.010295467685903]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_11","position":[0.16989067863790386,-1.2702258162376074,0.71338606911949],"aabb_xy":[[0.15973766308375445,-1.3062953578103473],[0.1800436941920532,-1.2341562746648667]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_12","position":[-0.18111906805855382,-1.6143203545122717,0.71338606911949],"aabb_xy":[[-0.19869737024750067,-1.6318948440863768],[-0.16354076586960697,-1.5967458649381667]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_13","position":[0.2390222265262434,-1.1060024127934016,0.71338606911949],"aabb_xy":[[0.23558155028618624,-1.1098638457677663],[0.2424629027663006,-1.1021409798190374]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_14","position":[-0.20293347567271414,-0.729151086564439,0.71338606911949],"aabb_xy":[[-0.2147016624673717,-0.8141510864696607],[-0.19116528887805667,-0.6441510866592175]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_15","position":[-0.4562183567151607,0.41479998536079155,0.71338606911949],"aabb_xy":[[-0.4740874644696162,0.4009670773835806],[-0.4383492489607052,0.4286328933380025]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_16","position":[-0.43255025017098536,0.1954668217054918,0.71338606911949],"aabb_xy":[[-0.4419677247408481,0.18605064456777273],[-0.4231327756011226,0.2048829988432108]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_17","position":[-0.05179022399122213,-1.970735708909333,0.71338606911949],"aabb_xy":[[-0.10178505691916373,-2.0207357078045765],[-0.001795391063280527,-1.9207357100140894]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_18","position":[-0.22247710518673247,0.35293457198776634,0.71338606911949],"aabb_xy":[[-0.28647710723646447,0.3128400888984583],[-0.15847710313700047,0.39302905507707425]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_19","position":[-0.2976789048137068,1.2942962335585024,0.71338606911949],"aabb_xy":[[-0.33447353793861306,1.2573903584619202],[-0.2608842716888005,1.3312021086550847]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_20","position":[0.46035077507971356,1.0771888012656943,0.71338606911949],"aabb_xy":[[0.4489890404264274,1.065820334859406],[0.4717125097329997,1.0885572676719821]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_21","position":[0.2686864821159294,-1.3367900144901856,0.71338606911949],"aabb_xy":[[0.25089297518101294,-1.354589760085983],[0.2864799890508458,-1.3189902688943878]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_22","position":[0.28162713584506693,-1.9570525644394121,0.71338606911949],"aabb_xy":[[0.24477658790807938,-1.9945525652624456],[0.3184776837820546,-1.9195525636163782]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_23","position":[-0.4287513989363409,0.8902815929350911,0.71338606911949],"aabb_xy":[[-0.5087513992099478,0.8173320451093745],[-0.34875139866273386,0.963231140760808]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_24","position":[-0.006761766591796392,-0.8845050095943661,0.71338606911949],"aabb_xy":[[-0.04426176725637509,-0.9001920675945883],[0.030738234072782308,-0.8688179515941439]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_25","position":[0.30944840483468394,-0.9074931748802675,0.71338606911949],"aabb_xy":[[0.2394484021980976,-0.9275980398761328],[0.3794484074712703,-0.8873883098844018]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_26","position":[0.6340118139104498,1.6325522489844224,0.71338606911949],"aabb_xy":[[0.6170017166203992,1.6164177604861483],[0.6510219112005005,1.6486867374826961]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_27","position":[-0.4108888313228313,0.529963007248599,0.71338606911949],"aabb_xy":[[-0.46601403695242205,0.4699630058073118],[-0.3557636256932405,0.589963008689886]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_28","position":[0.1058592144089503,1.2097452504533477,0.71338606911949],"aabb_xy":[[0.10101561964772032,1.2048935979743636],[0.11070280917018027,1.2145969029323318]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6922006462473119,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7925.png","name":"7925"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7925.png","name":"7925"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2538.png","name":"2538"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6906.png","name":"6906"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9875.png","name":"9875"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9599.png","name":"9599"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":533.9789416746705,"rotation_z_degrees":17.348173842953774,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010621806155670993,-0.017481244767809986,-0.01626837962453566]},{"name":"camera_2","offset_m":[0.017329424430737084,0.015084679818255484,-0.016293783748314656]},{"name":"camera_3","offset_m":[0.0147469578834486,-0.016680050098050826,-0.01026227734364503]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00047137548819144257,-9.55095617175758e-05,0.0011091574176778115],"end_effector_yaw_offset_degrees":-0.8267782889430282},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001366316552104038,0.0018409661698523573,-0.000576662744579591],"end_effector_yaw_offset_degrees":0.6291353650134706},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019032091820379714,0.0017482865021070455,0.00017689247430073595],"end_effector_yaw_offset_degrees":0.5533947733047571}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0035736179663221563,-0.00012408826046379686],"position_m":[0.28247361796632214,-0.1178240882604638,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0022277469628225965,-0.004041342382098708],"position_m":[0.2242722530371774,-0.4132413423820987,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0018859252753145638,0.0011180624084102461],"position_m":[0.35071407472468547,0.06711806240841026,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00035142990280131667,-0.00019790114000900038],"position_m":[0.3418485700971987,0.323702098859991,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"73b9c7c50970b5d8538d5df4cdd70f3552d3a9ee483c52350545b89b1c333624","episode_index":16,"episode_name":"episode_0016"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0016.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_7925/tex_ceiling_textures_9599/tex_floor_textures_9875/tex_table_textures_2538/tex_wall_textures_6906","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":2554511950047360311,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":2554511950047360311,"visual_seed":2554511950047360311,"scene_id":"lab_003","finished_at":"2026-09-04T00:15:20"} +{"episode_id":"ep_000017","started_at":"2026-09-04T00:15:23","dimensions":{"distractor":{"count":33,"items":[{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_0","position":[0.2176773663105036,-0.5427069945735754,0.71338606911949],"aabb_xy":[[0.20631563165721742,-0.5540754609798634],[0.22903910096378974,-0.5313385281672872]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_1","position":[0.5896184375286324,0.9211796867952287,0.71338606911949],"aabb_xy":[[0.5296184372772312,0.866898361758764],[0.6496184377800336,0.9754610118316933]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_2","position":[0.5530917252851277,-1.479356702886343,0.71338606911949],"aabb_xy":[[0.47309172312236525,-1.5593118865124866],[0.6330917274478902,-1.3994015192601994]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_3","position":[0.10239298401608699,1.5351304639862957,0.71338606911949],"aabb_xy":[[0.052392982732247,1.4851516095956734],[0.1523929852999269,1.5851093183769176]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_4","position":[0.2643672683671594,-1.0834447526272373,0.71338606911949],"aabb_xy":[[0.25902969270115483,-1.108444753556377],[0.26970484403316397,-1.0584447516980975]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_5","position":[0.6213438991830518,-1.9399033441573927,0.71338606911949],"aabb_xy":[[0.5961230623232119,-1.9651270950102788],[0.6465647360428912,-1.9146795933045053]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_6","position":[-0.38492965819943203,-1.661187023466237,0.71338606911949],"aabb_xy":[[-0.4031354818606797,-1.6722124240482288],[-0.36672383453818436,-1.6501616228842455]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_7","position":[0.4441418896098954,-0.31861333109404244,0.71338606911949],"aabb_xy":[[0.3791418886093949,-0.36939969624871744],[0.5091418906103959,-0.26782696593936756]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_8","position":[-0.2986518612019815,-0.6632008679429369,0.71338606911949],"aabb_xy":[[-0.3211482826358456,-0.6857008677496843],[-0.2761554397681174,-0.6407008681361894]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_9","position":[-0.504504927460655,-1.4086574305491484,0.71338606911949],"aabb_xy":[[-0.568504926630425,-1.4554241176681109],[-0.4405049282908851,-1.361890743430186]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_10","position":[0.22757959449637688,-2.0160949169781235,0.71338606911949],"aabb_xy":[[0.182579593030148,-2.0610947738396046],[0.2725795959626057,-1.9710950601166433]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_11","position":[0.05546673835726379,0.7967918403630359,0.71338606911949],"aabb_xy":[[0.04538503127869031,0.7167918424709211],[0.06554844543583727,0.8767918382551504]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_12","position":[-0.45328468786131537,1.7181099332431962,0.71338606911949],"aabb_xy":[[-0.5432846901953343,1.6406275786580835],[-0.36328468552729626,1.7955922878283088]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_13","position":[-0.2830181938838505,0.9851505437130781,0.71338606911949],"aabb_xy":[[-0.29426324945446836,0.9739087459889829],[-0.2717731383132327,0.9963923414371735]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_14","position":[-0.4926796411627005,-0.468386279577341,0.71338606911949],"aabb_xy":[[-0.5426529351659608,-0.5183862801318884],[-0.4427063471594399,-0.41838627902279363]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_15","position":[-0.4773373010098584,0.3200616906532576,0.71338606911949],"aabb_xy":[[-0.5413373033526598,0.2751208394091251],[-0.41333729866705676,0.36500254189739006]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_16","position":[-0.48339515444343817,-0.13259801384436676,0.71338606911949],"aabb_xy":[[-0.5633951577012811,-0.21259452163635073],[-0.4033951511855952,-0.052601506052382785]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_17","position":[-0.24069271552550753,-0.3511083794154892,0.71338606911949],"aabb_xy":[[-0.2781927156311005,-0.35793054126847035],[-0.20319271541991457,-0.3442862175625081]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_18","position":[-0.2843488912096774,-1.989195568117809,0.71338606911949],"aabb_xy":[[-0.33416567067451214,-2.039195566602112],[-0.23453211174484262,-1.939195569633506]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_19","position":[0.6889081636841885,0.2315614926878955,0.71338606911949],"aabb_xy":[[0.6760362601832482,0.15156149227405935],[0.7017800671851285,0.31156149310173165]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_20","position":[-0.11884021593634142,0.9313558221739964,0.71338606911949],"aabb_xy":[[-0.15533603656362016,0.8948718797472387],[-0.08234439530906267,0.9678397646007538]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_21","position":[-0.041015055525739585,-1.8993552326633163,0.71338606911949],"aabb_xy":[[-0.10501505578621038,-1.9443640320162443],[0.022984944734731224,-1.8543464333103883]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_22","position":[0.3676508086645991,0.9277557505137426,0.71338606911949],"aabb_xy":[[0.2776508121637273,0.8818441080952841],[0.4576508051654708,0.9736673929322006]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_23","position":[-0.2951241104556891,-0.7609319485667099,0.71338606911949],"aabb_xy":[[-0.3326241103994555,-0.7692250386015465],[-0.2576241105119227,-0.7526388585318733]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_24","position":[-0.5549185954046938,1.4071863326385836,0.71338606911949],"aabb_xy":[[-0.5621798429751013,1.3943993223750741],[-0.5476573478342863,1.419973342902093]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_25","position":[-0.5720355523262124,-2.459002133834752,0.71338606911949],"aabb_xy":[[-0.6420355539284918,-2.472434927036409],[-0.5020355507239328,-2.445569340633094]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_26","position":[0.2511839966566275,-0.7537304036047654,0.71338606911949],"aabb_xy":[[0.226183997104889,-0.7638728874699],[0.276183996208366,-0.7435879197396306]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_27","position":[0.5898950147529083,-0.532804456701764,0.71338606911949],"aabb_xy":[[0.5399175978876546,-0.5828044581910123],[0.6398724316181618,-0.4828044552125153]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_28","position":[0.49418722612768695,-2.2432171276526476,0.71338606911949],"aabb_xy":[[0.47290921798421465,-2.30821712997872],[0.5154652342711592,-2.178217125326574]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_29","position":[-0.25032535375897497,1.7378081473682623,0.71338606911949],"aabb_xy":[[-0.2853253529517932,1.7268411013705993],[-0.21532535456615665,1.7487751933659244]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_30","position":[0.5616656973031349,0.6694943679203051,0.71338606911949],"aabb_xy":[[0.551254138622651,0.6641486345844065],[0.5720772559836185,0.6748401012562035]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_31","position":[-0.6247145810592186,-0.7498416050625651,0.71338606911949],"aabb_xy":[[-0.6897145789408664,-0.8009652687691062],[-0.5597145831775708,-0.6987179413560244]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_32","position":[0.43926532402993934,-1.016491295602293,0.71338606911949],"aabb_xy":[[0.35926532076592615,-1.0300513279112062],[0.5192653272939525,-1.0029312632933796]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.692076080546063,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9821.png","name":"9821"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9821.png","name":"9821"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7467.png","name":"7467"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5145.png","name":"5145"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/520.png","name":"520"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/614.png","name":"614"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":832.5910368603218,"rotation_z_degrees":237.92110066751664,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018687517113345094,-0.005454477071979885,-0.010519880859162126]},{"name":"camera_2","offset_m":[0.007477922672590877,0.01032042070959106,-0.010601845926735774]},{"name":"camera_3","offset_m":[0.008970625505346209,0.006009495075889756,-0.01641149264518642]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00044638052434322305,9.524591613146787e-05,2.9716929545421916e-05],"end_effector_yaw_offset_degrees":0.2505181128381513},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016899747548093352,-0.0003063579129668379,-0.0016096284831711896],"end_effector_yaw_offset_degrees":-0.8350307707244746},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00020981854842835814,-0.0006808808865567469,0.0016455964595834516],"end_effector_yaw_offset_degrees":0.46278117139357744}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002633817493011864,-0.00334145021384491],"position_m":[0.2815338174930119,-0.12104145021384491,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0009325258192332897,-0.00034890540363427796],"position_m":[0.2274325258192333,-0.4095489054036343,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0021219178164476517,-0.004276541089743128],"position_m":[0.3547219178164477,0.06172345891025688,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0019956203919583716,0.0026270329966570014],"position_m":[0.3402043796080416,0.32652703299665703,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"55ba9719a472c2cf80b227f48e935a23bba849df56b2522b8353b22829165fe6","episode_index":17,"episode_name":"episode_0017"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0017.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_9821/tex_ceiling_textures_614/tex_floor_textures_520/tex_table_textures_7467/tex_wall_textures_5145","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":7869477690579540812,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":7869477690579540812,"visual_seed":7869477690579540812,"scene_id":"lab_003","finished_at":"2026-09-04T00:17:49"} +{"episode_id":"ep_000018","started_at":"2026-09-04T00:17:52","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_0","position":[0.10243281747242428,-0.9873818716107428,0.71338606911949],"aabb_xy":[[0.040842058248431484,-1.0513818697197896],[0.16402357669641712,-0.9233818735016959]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_1","position":[-0.21147599782088922,-0.19308042702464867,0.71338606911949],"aabb_xy":[[-0.24897599639651,-0.2058167226882066],[-0.17397599924526838,-0.18034413136109073]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_2","position":[-0.5290425318397678,-1.37951544215896,0.71338606911949],"aabb_xy":[[-0.5351371597278862,-1.3880848367106287],[-0.5229479039516496,-1.3709460476072912]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_3","position":[-0.4412269021149169,-0.8694170368927845,0.71338606911949],"aabb_xy":[[-0.47807745005190455,-0.9069170377158182],[-0.40437635417792933,-0.8319170360697508]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_4","position":[0.5033493016455208,-0.4514596707162206,0.71338606911949],"aabb_xy":[[0.48084930140200544,-0.46366430537599257],[0.5258493018890362,-0.43925503605644867]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_5","position":[0.6832772505122056,-0.3941603003986214,0.71338606911949],"aabb_xy":[[0.6569884261917649,-0.42043173405327255],[0.7095660748326462,-0.3678888667439701]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_6","position":[0.5103284160946284,-1.1976262448308026,0.71338606911949],"aabb_xy":[[0.4951562468129951,-1.212795101759006],[0.5255005853762618,-1.1824573879025992]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_7","position":[-0.5227269427451182,-2.5199249507776913,0.71338606911949],"aabb_xy":[[-0.5307204325404002,-2.5279230827181673],[-0.5147334529498362,-2.511926818837216]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_8","position":[-0.6662042209814955,1.1870299893270309,0.71338606911949],"aabb_xy":[[-0.6853165283394743,1.1678952104497888],[-0.6470919136235166,1.2061647682042729]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_9","position":[0.08029216783168347,-1.6480407203064078,0.71338606911949],"aabb_xy":[[0.04597589065706553,-1.6980407202795855],[0.11460844500630141,-1.59804072033323]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_10","position":[0.36641641594854546,-2.322891539498377,0.71338606911949],"aabb_xy":[[0.35849313570979713,-2.3453915397363803],[0.3743396961872938,-2.3003915392603735]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_11","position":[-0.5831092378410254,1.677083567627729,0.71338606911949],"aabb_xy":[[-0.6206092381332002,1.6730420922271252],[-0.5456092375488506,1.6811250430283322]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_12","position":[-0.5214555419896117,-0.1490988773034454,0.71338606911949],"aabb_xy":[[-0.5439555418035141,-0.1535734936739261],[-0.49895554217570937,-0.1446242609329647]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_13","position":[-0.0819528178802269,-0.14790852027549128,0.71338606911949],"aabb_xy":[[-0.1194528185448056,-0.16359557827571344],[-0.044452817215648206,-0.13222146227526907]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_14","position":[-0.30848880323265176,-1.0244043025916574,0.71338606911949],"aabb_xy":[[-0.36848880307921855,-1.081222924784696],[-0.24848880338608498,-0.9675856803986187]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_15","position":[-0.645616117227099,0.7831837546397216,0.71338606911949],"aabb_xy":[[-0.6533193079011761,0.7754743839409834],[-0.6379129265530219,0.7908931253384595]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_16","position":[-0.4431990639561891,-2.51999565240851,0.71338606911949],"aabb_xy":[[-0.45235894290006573,-2.526526870452047],[-0.43403918501231253,-2.5134644343649732]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_17","position":[-0.33749621696266047,-0.594772445102228,0.71338606911949],"aabb_xy":[[-0.3549961503966438,-0.6122724450224625],[-0.31999628352867704,-0.5772724451819934]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_18","position":[-0.1194847943277203,0.2802753282348984,0.71338606911949],"aabb_xy":[[-0.20448479301979494,0.24828946484001957],[-0.034484795635645646,0.3122611916297773]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_19","position":[0.18747692480075373,1.658773180043076,0.71338606911949],"aabb_xy":[[0.17056619236441192,1.6453009744504614],[0.20438765723709548,1.6722453856356907]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_20","position":[0.4988062925294352,-2.5737270157660346,0.71338606911949],"aabb_xy":[[0.4943756631745951,-2.5791753875007175],[0.5032369218842754,-2.5682786440313525]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_21","position":[0.3948258961671769,1.086529503178788,0.71338606911949],"aabb_xy":[[0.33082589888152825,1.0450227842259443],[0.45882589345282554,1.1280362221316322]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_22","position":[-0.03696018094070164,1.5863007434189371,0.71338606911949],"aabb_xy":[[-0.05886886308005268,1.5644000765988462],[-0.015051498801350593,1.6082014102390276]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_23","position":[-0.5403324429193936,-0.7803566144703735,0.71338606911949],"aabb_xy":[[-0.5456649575740066,-0.7856809427156091],[-0.5349999282647805,-0.775032286225138]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_24","position":[0.4212034379448184,-2.1558333119065467,0.71338606911949],"aabb_xy":[[0.38674095993173063,-2.162496989089469],[0.4556659159579062,-2.1491696347236235]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_25","position":[0.277400262908459,-0.7475274124543374,0.71338606911949],"aabb_xy":[[0.2124002602706655,-0.7990070111537844],[0.34240026554625247,-0.6960478137548904]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_26","position":[0.4933008694042349,-0.013554464314474934,0.71338606911949],"aabb_xy":[[0.42930086611452684,-0.05688938331839254],[0.557300872693943,0.029780454689442674]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_27","position":[-0.30399072178876974,0.6677814360434127,0.71338606911949],"aabb_xy":[[-0.31374671129794357,0.6580189019841781],[-0.2942347322795958,0.677543970102647]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_28","position":[0.5765765132037854,1.0885428644234896,0.71338606911949],"aabb_xy":[[0.5265816802758438,1.038542865528246],[0.626571346131727,1.1385428633187331]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_29","position":[0.1902553434304024,-2.119383910564451,0.71338606911949],"aabb_xy":[[0.15292406690515975,-2.1540369653593032],[0.227586619955645,-2.0847308557695987]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_30","position":[-0.08211722865070314,-0.6931086147434324,0.71338606911949],"aabb_xy":[[-0.0980017219160283,-0.7074615550422564],[-0.066232735385378,-0.6787556744446083]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6921828554057645,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2580.png","name":"2580"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2580.png","name":"2580"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6978.png","name":"6978"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4920.png","name":"4920"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2046.png","name":"2046"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3483.png","name":"3483"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":581.4314067001847,"rotation_z_degrees":102.9690529274911,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008520277328556102,-0.007626355796479892,-0.007587235402267644]},{"name":"camera_2","offset_m":[0.014238433100981326,0.014389092316194337,-0.005125936338090246]},{"name":"camera_3","offset_m":[-0.018155362231170247,0.011361719190607581,-0.016322484247567392]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00011545865760578789,-0.0010075220327097232,-0.00019673363369440895],"end_effector_yaw_offset_degrees":-0.885876374693231},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0002589726723890369,-0.0008019361802313364,0.0010995849853555214],"end_effector_yaw_offset_degrees":-0.7253094160881537},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013649779171922122,-0.0012794548946680187,-0.00159754866818548],"end_effector_yaw_offset_degrees":0.6304905291106941}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0032179902499929846,0.0006141236330224949],"position_m":[0.275682009750007,-0.11708587636697751,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004570607094385269,-0.0030631266679861514],"position_m":[0.22192939290561473,-0.41226312666798615,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002473909228760645,-0.004711533752469653],"position_m":[0.35507390922876064,0.06128846624753035,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0012814513089464464,0.001516070706417869],"position_m":[0.34091854869105354,0.32541607070641787,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f31070786234b4bcaa3f6fd55b2dddcf05d07f09d06228aa710de5b4d5e91d1c","episode_index":18,"episode_name":"episode_0018"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0018.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_2580/tex_ceiling_textures_3483/tex_floor_textures_2046/tex_table_textures_6978/tex_wall_textures_4920","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":1842179538665625988,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":1842179538665625988,"visual_seed":1842179538665625988,"scene_id":"lab_003","finished_at":"2026-09-04T00:20:03"} +{"episode_id":"ep_000019","started_at":"2026-09-04T00:20:06","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_0","position":[-0.26902980737679805,-1.0418938856901363,0.71338606911949],"aabb_xy":[[-0.3190290825452342,-1.0918938869660835],[-0.21903053220836188,-0.9918938844141891]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_1","position":[0.13018395475064215,-2.113726537658716,0.71338606911949],"aabb_xy":[[0.07255348586337128,-2.173726536585426],[0.18781442363791295,-2.053726538732005]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_2","position":[0.5654908509873988,0.7472051485748774,0.71338606911949],"aabb_xy":[[0.5429944295535347,0.72470514876813],[0.5879872724212629,0.7697051483816248]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_3","position":[-0.11607288031390295,-0.18072614951010157,0.71338606911949],"aabb_xy":[[-0.1410728798656414,-0.19086863337523627],[-0.09107288076216444,-0.17058366564496683]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_4","position":[-0.47741349423022206,1.1024116493504619,0.71338606911949],"aabb_xy":[[-0.5133269986552117,1.0664981411337073],[-0.44149998980523236,1.1383251575672164]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_5","position":[-0.5026448640405463,-1.581786412812179,0.71338606911949],"aabb_xy":[[-0.515112222150282,-1.5942517374455025],[-0.49017750593081066,-1.5693210881788555]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_6","position":[-0.5308266833010816,-0.4221575839100957,0.71338606911949],"aabb_xy":[[-0.559156393249622,-0.4266183261038128],[-0.5024969733525415,-0.41769684171637866]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_7","position":[-0.044751665969920085,-1.6887013966802333,0.71338606911949],"aabb_xy":[[-0.07819184116593966,-1.722145022511163],[-0.01131149077390047,-1.6552577708493028]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_8","position":[-0.2808532825276708,1.7890524712850095,0.71338606911949],"aabb_xy":[[-0.29400452849896014,1.764052471528323],[-0.2677020365563814,1.814052471041696]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_9","position":[0.2062313334372401,-1.3552474753694754,0.71338606911949],"aabb_xy":[[0.16346462655781988,-1.4192474787912777],[0.24899804031666026,-1.2912474719476728]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_10","position":[0.10571447426121106,0.8710491943918575,0.71338606911949],"aabb_xy":[[0.0976781395599262,0.8630110750874407],[0.11375080896249588,0.8790873136962742]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_11","position":[-0.016923764730815694,-1.2011807723355468,0.71338606911949],"aabb_xy":[[-0.06405314373265136,-1.2651807733799483],[0.030205614271019983,-1.1371807712911444]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_12","position":[0.42902568366412974,-1.7558250446660302,0.71338606911949],"aabb_xy":[[0.39152568287213424,-1.7621928856242206],[0.46652568445612513,-1.7494572037078402]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_13","position":[0.2562817211819144,1.5660028772921426,0.71338606911949],"aabb_xy":[[0.2503151822411786,1.5600417326327785],[0.2622482601226502,1.5719640219515068]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_14","position":[0.2615913359344483,1.2600223592456254,0.71338606911949],"aabb_xy":[[0.2507508577079334,1.2428360779549767],[0.2724318141609632,1.2772086405362741]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_15","position":[-0.4998241017904574,-0.04916581137763032,0.71338606911949],"aabb_xy":[[-0.5168341990805081,-0.06530029987590424],[-0.4828140045004067,-0.03303132287935639]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_16","position":[0.15455433560544785,1.5973696516160483,0.71338606911949],"aabb_xy":[[0.14663105536669951,1.574869651378045],[0.16247761584419618,1.6198696518540516]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_17","position":[-0.5158642173541867,1.7470156492672202,0.71338606911949],"aabb_xy":[[-0.6058642167725575,1.7136401524230305],[-0.42586421793581575,1.78039114611141]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_18","position":[0.5229834988910562,-0.8309194604118759,0.71338606911949],"aabb_xy":[[0.45298349675962646,-0.8536814260375714],[0.5929835010224855,-0.80815749478618]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_19","position":[-0.3531708592257731,-1.7172576903117358,0.71338606911949],"aabb_xy":[[-0.3585033738803861,-1.7225820185569714],[-0.34783834457116014,-1.7119333620665003]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_20","position":[0.6379427767536396,-2.28931444263052,0.71338606911949],"aabb_xy":[[0.5879427763930736,-2.3392944298401224],[0.6879427771142057,-2.2393344554209165]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_21","position":[-0.3647160277829015,0.9580992638404697,0.71338606911949],"aabb_xy":[[-0.3872160275968039,0.9536246474699891],[-0.34221602796899914,0.9625738802109506]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_22","position":[0.49953213965903354,-1.6441108929799118,0.71338606911949],"aabb_xy":[[0.4495479039508563,-1.6941108917934073],[0.5495163753672108,-1.5941108941664162]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6954602936653195,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2575.png","name":"2575"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2575.png","name":"2575"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8680.png","name":"8680"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2193.png","name":"2193"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4521.png","name":"4521"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7562.png","name":"7562"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":830.4317451332693,"rotation_z_degrees":112.08344761667499,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0019314423445993406,-0.00859981582638789,0.018556149993015195]},{"name":"camera_2","offset_m":[0.006462560132431679,0.015188719008944748,-0.00947978749120655]},{"name":"camera_3","offset_m":[-0.01985898516028146,-0.0063312559919884714,-0.011647401065096999]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00058675624914248,-0.0019669743095645205,-0.0011552234190728523],"end_effector_yaw_offset_degrees":-0.5502766300395128},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001763807850055052,0.0010551741208812693,-0.0014623556564872598],"end_effector_yaw_offset_degrees":-0.8997679268527763},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00047833806783518324,0.0011454868686068733,0.0007144257367199857],"end_effector_yaw_offset_degrees":0.4476632829583087}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0009205263223184459,-0.0010183018550691605],"position_m":[0.27797947367768155,-0.11871830185506915,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0013013974614631075,0.004864558056678267],"position_m":[0.2278013974614631,-0.4043354419433217,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00031505010827077243,-0.004372753203777048],"position_m":[0.35228494989172926,0.06162724679622295,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0018083781873100193,0.0026864639045088012],"position_m":[0.34400837818731,0.32658646390450885,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2c2343278f1acb56e68a2e984b6da468bf9c6c64927d66e9ce8f49bc2876dcb1","episode_index":19,"episode_name":"episode_0019"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0019.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_2575/tex_ceiling_textures_7562/tex_floor_textures_4521/tex_table_textures_8680/tex_wall_textures_2193","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":4917382852345742674,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":4917382852345742674,"visual_seed":4917382852345742674,"scene_id":"lab_003","finished_at":"2026-09-04T00:22:47"} +{"episode_id":"ep_000020","started_at":"2026-09-04T00:22:50","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_0","position":[0.36081677559694314,0.7240330542331468,0.71338606911949],"aabb_xy":[[0.35485023665620735,0.7180719095737826],[0.36678331453767893,0.7299941988925107]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_1","position":[0.4979158707875262,-1.4837177003422242,0.71338606911949],"aabb_xy":[[0.4908755608539893,-1.563717699741896],[0.5049561807210633,-1.403717700942553]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_2","position":[0.5137077739153808,0.28242195117206625,0.71338606911949],"aabb_xy":[[0.4437077723131013,0.2689891579704087],[0.5837077755176603,0.29585474437372383]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_3","position":[-0.570009359738253,-2.281550019299951,0.71338606911949],"aabb_xy":[[-0.6050093596342718,-2.2899242548118908],[-0.5350093598422341,-2.2731757837880107]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_4","position":[0.6323710207306039,0.40070712863544466,0.71338606911949],"aabb_xy":[[0.6073710211788654,0.39056464477030994],[0.6573710202823424,0.4108496125005794]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_5","position":[0.44359649455685357,-0.6487015328244601,0.71338606911949],"aabb_xy":[[0.3935964941962875,-0.6986815200340629],[0.49359649491741964,-0.598721545614857]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_6","position":[0.00866653202564871,-1.5726719413074353,0.71338606911949],"aabb_xy":[[-0.046326679311488046,-1.627671941646229],[0.06365974336278547,-1.5176719409686419]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_7","position":[-0.08847026853462714,-1.0767375263827095,0.71338606911949],"aabb_xy":[[-0.14359547416421792,-1.1367375278239964],[-0.03334506290503637,-1.016737524941422]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_8","position":[0.4886596975364945,1.7046237957684398,0.71338606911949],"aabb_xy":[[0.4541973501383527,1.670129913370617],[0.5231220449346363,1.7391176781662623]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_9","position":[-0.07362834381296457,-2.3637987458084644,0.71338606911949],"aabb_xy":[[-0.09053907624930634,-2.377270951401079],[-0.05671761137662278,-2.3503265402158497]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_10","position":[-0.243287531195168,0.25254646086981625,0.71338606911949],"aabb_xy":[[-0.2695763555156086,0.22627502721516504],[-0.2169987068747273,0.2788178945244675]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_11","position":[-0.5267400078869285,0.1084393629953917,0.71338606911949],"aabb_xy":[[-0.5617400061976241,0.10072434807184603],[-0.4917400095762332,0.11615437791893733]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_12","position":[-0.6669818783869416,-0.12097769919886803,0.71338606911949],"aabb_xy":[[-0.67329397792328,-0.12674463845208686],[-0.6606697788506031,-0.1152107599456492]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_13","position":[-0.5054980931836754,-1.6283642879785405,0.71338606911949],"aabb_xy":[[-0.5135344278849603,-1.6364024072829573],[-0.4974617584823906,-1.6203261686741237]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_14","position":[0.15996819168047394,-1.2483156244028513,0.71338606911949],"aabb_xy":[[0.0959681883907658,-1.2916505434067689],[0.22396819497018203,-1.2049807053989336]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_15","position":[-0.5269798863136971,1.2618233876634575,0.71338606911949],"aabb_xy":[[-0.564479886485569,1.2291226522805498],[-0.48947988614182514,1.2945241230463642]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_16","position":[-0.12005158968750018,-0.3476418875324261,0.71338606911949],"aabb_xy":[[-0.1367287256805957,-0.36434181150635636],[-0.10337445369440468,-0.3309419635584958]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_17","position":[0.580756982855908,-1.9544079451289362,0.71338606911949],"aabb_xy":[[0.5157569828216053,-2.0011086218092635],[0.6457569828902108,-1.907707268448609]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_18","position":[-0.5413372179786573,-0.01924224843960065,0.71338606911949],"aabb_xy":[[-0.5638372175023646,-0.04173819589022142],[-0.5188372184549498,0.0032536990110201276]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_19","position":[-0.20580577017394958,-0.07532465091312268,0.71338606911949],"aabb_xy":[[-0.22827054014535467,-0.09782465179198319],[-0.18334100020254443,-0.05282465003426218]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_20","position":[-0.005241437047601716,1.1601451929245785,0.71338606911949],"aabb_xy":[[-0.05524143569352291,1.1102256492651161],[0.04475856159831948,1.210064736584041]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_21","position":[-0.33379434807967634,-2.3881131682160635,0.71338606911949],"aabb_xy":[[-0.37907296296082554,-2.452113167564247],[-0.288515733198527,-2.3241131688678798]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_22","position":[-0.34992496192144773,1.5771205982824346,0.71338606911949],"aabb_xy":[[-0.3576281525955247,1.5694112275836962],[-0.34222177124737063,1.5848299689811725]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_23","position":[0.2604421343294673,-2.2309352986392588,0.71338606911949],"aabb_xy":[[0.1954421316916738,-2.2824148973387057],[0.32544213696726076,-2.179455699939812]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_24","position":[0.28452580183334686,0.7800177437206526,0.71338606911949],"aabb_xy":[[0.27690153374316867,0.772384520184109],[0.29215006992352516,0.7876509672571964]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_25","position":[0.11044977770236586,0.7845233886381604,0.71338606911949],"aabb_xy":[[0.0885410955630148,0.7626227218180697],[0.1323584598417169,0.8064240554582511]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_26","position":[-0.07561843993041262,0.7034313753875079,0.71338606911949],"aabb_xy":[[-0.10561010266428293,0.6734313760507072],[-0.045626777196542276,0.7334313747243083]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6954558730714889,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3063.png","name":"3063"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3063.png","name":"3063"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7864.png","name":"7864"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1837.png","name":"1837"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2810.png","name":"2810"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6876.png","name":"6876"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":769.2620462382237,"rotation_z_degrees":56.192522993056365,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004054918139703108,0.006481930052998873,-0.01820425568489614]},{"name":"camera_2","offset_m":[-0.006453698700335728,-0.01952249078837258,0.01805144198459246]},{"name":"camera_3","offset_m":[0.00970746579077603,0.008089752148667865,0.017277467846556063]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0001750514397303581,-0.00126548103665701,0.00045987113211269507],"end_effector_yaw_offset_degrees":0.1874462670942736},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00046476076119520153,-0.0006180051365411105,-0.0010809058857991097],"end_effector_yaw_offset_degrees":0.7220320190634724},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00032928553632865024,0.0012085156137587637,0.0014066838875940292],"end_effector_yaw_offset_degrees":0.2920121057342575}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0014904110645097245,-0.0004689691972198642],"position_m":[0.2774095889354903,-0.11816896919721986,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001489232252993895,0.003498803176927123],"position_m":[0.22501076774700612,-0.4057011968230729,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-7.44373847019449e-05,-0.0032842854362362065],"position_m":[0.3525255626152981,0.06271571456376379,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002474135796698894,0.0014222479061830207],"position_m":[0.3446741357966989,0.325322247906183,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c41da8e1319dd63d715f8ed0c58be28f3370d9768760bcd6569240d5b0a26c76","episode_index":20,"episode_name":"episode_0020"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0020.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_3063/tex_ceiling_textures_6876/tex_floor_textures_2810/tex_table_textures_7864/tex_wall_textures_1837","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":8078996975792728493,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":8078996975792728493,"visual_seed":8078996975792728493,"scene_id":"lab_003","finished_at":"2026-09-04T00:25:30"} +{"episode_id":"ep_000021","started_at":"2026-09-04T00:25:33","dimensions":{"distractor":{"count":31,"items":[{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_0","position":[0.21711871172169683,-2.254966626400657,0.71338606911949],"aabb_xy":[[0.18211871259174117,-2.260711847476321],[0.2521187108516525,-2.2492214053249926]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_1","position":[0.6564096895857476,-1.575851454503501,0.71338606911949],"aabb_xy":[[0.5924096904159778,-1.6226181416224634],[0.7204096887555177,-1.5290847673845385]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_2","position":[-0.6507234409675656,1.7320978717039002,0.71338606911949],"aabb_xy":[[-0.6882234395431863,1.719361576040342],[-0.6132234423919447,1.7448341673674579]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_3","position":[-0.16692742348258283,-0.7521644362753268,0.71338606911949],"aabb_xy":[[-0.19192742341510072,-0.7590471044962502],[-0.14192742355006494,-0.7452817680544036]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_4","position":[0.593119800083431,-1.099643135998463,0.71338606911949],"aabb_xy":[[0.5837023255135683,-1.1090593131361821],[0.6025372746532938,-1.090226958860744]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_5","position":[-0.15774044123957898,-0.16039693385154052,0.71338606911949],"aabb_xy":[[-0.19524044242437175,-0.16481515654760104],[-0.12024044005478617,-0.15597871115547995]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_6","position":[-0.33348051138025536,1.0738319899107176,0.71338606911949],"aabb_xy":[[-0.4134805093610404,1.0662304489488657],[-0.2534805133994703,1.0814335308725695]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_7","position":[0.18879823180117772,0.5533898455235815,0.71338606911949],"aabb_xy":[[0.17743649714789156,0.5420213791172933],[0.20015996645446388,0.5647583119298695]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_8","position":[0.15092337756010565,-1.8850198774822375,0.71338606911949],"aabb_xy":[[0.12052526646096205,-1.915426779483907],[0.1813214886592492,-1.854612975480568]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_9","position":[0.17512104865550315,1.1697287328975507,0.71338606911949],"aabb_xy":[[0.09512104649274064,1.089773549271407],[0.25512105081826564,1.2496839165236941]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_10","position":[0.6003681187398715,-1.8127647214666265,0.71338606911949],"aabb_xy":[[0.5942734908517532,-1.821334116018295],[0.6064627466279898,-1.8041953269149575]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_11","position":[0.361773967328612,1.0565705393302194,0.71338606911949],"aabb_xy":[[0.2967739687715391,1.0268180059163365],[0.4267739658856848,1.0863230727441018]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_12","position":[0.5463080763464654,0.9768351988104067,0.71338606911949],"aabb_xy":[[0.5382647164205102,0.8918351977150403],[0.5543514362724206,1.0618351999057731]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_13","position":[-0.3487961658171424,0.7756654996389729,0.71338606911949],"aabb_xy":[[-0.3909805799779732,0.7116654993617618],[-0.3066117516563117,0.8396654999161842]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_14","position":[0.29650219484266216,-2.404741846411718,0.71338606911949],"aabb_xy":[[0.27621789211926334,-2.4250244715544267],[0.31678649756606087,-2.3844592212690086]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_15","position":[0.3681324893615108,0.4216015900416532,0.71338606911949],"aabb_xy":[[0.3482414494811706,0.4089457787569564],[0.38802352924185113,0.4342574013263501]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_16","position":[-0.427010902505146,-0.4111160993323675,0.71338606911949],"aabb_xy":[[-0.45749515263217616,-0.46111609911386336],[-0.39652665237811585,-0.3611160995508715]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_17","position":[-0.11369856554693902,-1.403932759664575,0.71338606911949],"aabb_xy":[[-0.13037570154003453,-1.4206326836385053],[-0.09702142955384352,-1.3872328356906447]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_18","position":[0.40863869830374244,-0.51042188714097,0.71338606911949],"aabb_xy":[[0.37113869763916374,-0.5261089451411921],[0.44613869896832115,-0.4947348291407478]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_19","position":[0.35774960114904,-2.4912792556507113,0.71338606911949],"aabb_xy":[[0.35070815019829243,-2.4983060073885057],[0.3647910520997876,-2.484252503912917]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_20","position":[0.6073166709462614,-2.1992014737840346,0.71338606911949],"aabb_xy":[[0.6036134096171225,-2.202903492092752],[0.6110199322754003,-2.1954994554753164]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_21","position":[-0.03286224188557907,-2.572550095547035,0.71338606911949],"aabb_xy":[[-0.039363878393583684,-2.582317917573345],[-0.026360605377574453,-2.5627822735207255]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_22","position":[0.08039733582753772,-0.8954882938862578,0.71338606911949],"aabb_xy":[[0.030419918962284128,-0.9454882953755062],[0.13037475269279128,-0.8454882923970091]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_23","position":[-0.0004744219901222646,-1.6666054336520073,0.71338606911949],"aabb_xy":[[-0.008500692620748262,-1.6753569286293601],[0.007551848640503733,-1.657853938674655]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_24","position":[-0.212738415323047,-0.29804848970077424,0.71338606911949],"aabb_xy":[[-0.257909733171216,-0.36204848684531266],[-0.16756709747487802,-0.23404849255623583]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_25","position":[0.6667574192550527,-0.06529699899349373,0.71338606911949],"aabb_xy":[[0.6627969354853184,-0.07296486357901434],[0.6707179030247871,-0.05762913440797314]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_26","position":[0.6449229684210178,0.015263787656093708,0.71338606911949],"aabb_xy":[[0.6305885432948545,0.0032035721015548635],[0.6592573935471814,0.027324003210632553]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_27","position":[-0.11824380191685446,-1.9205491094989982,0.71338606911949],"aabb_xy":[[-0.1357904968329734,-1.9580491110632492],[-0.10069710700073553,-1.8830491079347467]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_28","position":[0.11571763555019121,-1.2736748937428177,0.71338606911949],"aabb_xy":[[0.030717637132767983,-1.3585491892051027],[0.20071763396761444,-1.1888005982805327]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_29","position":[0.6105250668572979,-0.5700721944475102,0.71338606911949],"aabb_xy":[[0.5730250667517048,-0.5768943563004912],[0.6480250669628908,-0.563250032594529]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_30","position":[-0.44972506418353064,1.6884962168326934,0.71338606911949],"aabb_xy":[[-0.4585062913307669,1.6797164695441635],[-0.4409438370362945,1.697275964121224]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6877359502961875,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9040.png","name":"9040"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9040.png","name":"9040"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7394.png","name":"7394"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3238.png","name":"3238"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3460.png","name":"3460"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9414.png","name":"9414"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":813.913533178689,"rotation_z_degrees":294.9779064609563,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017446182196822917,0.010178869984346174,-0.0055993494903172885]},{"name":"camera_2","offset_m":[-0.002521737663598301,0.015460644615271638,0.011822710561952197]},{"name":"camera_3","offset_m":[0.010325880194987067,0.007984039759218207,-0.008796829202826616]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00023491444367166052,-0.0011035475086265249,-0.0014668392830322308],"end_effector_yaw_offset_degrees":-0.4106087803147349},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016108543807675834,0.00015323290427033363,-0.0015373965480411638],"end_effector_yaw_offset_degrees":-0.5320412709248838},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0004983083369880562,0.0002893090454880367,-0.0018695316300239954],"end_effector_yaw_offset_degrees":0.5398310197510703}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0031655922066444837,-0.0027578441770387506],"position_m":[0.28206559220664446,-0.12045784417703875,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0025619973836348313,0.004740789081817311],"position_m":[0.22906199738363484,-0.4044592109181827,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0037715415683105243,0.004911832601191188],"position_m":[0.3563715415683105,0.07091183260119119,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003130257602987082,-0.004502484109507421],"position_m":[0.33906974239701293,0.3193975158904926,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"db8f80900e895c1e3520014dd3126c8937e42b66f57eb949a2577d7254015500","episode_index":21,"episode_name":"episode_0021"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0021.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_9040/tex_ceiling_textures_9414/tex_floor_textures_3460/tex_table_textures_7394/tex_wall_textures_3238","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":568814835172266557,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":568814835172266557,"visual_seed":568814835172266557,"scene_id":"lab_003","finished_at":"2026-09-04T00:28:08"} +{"episode_id":"ep_000022","started_at":"2026-09-04T00:28:12","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_0","position":[-0.24257757876503022,0.5204260361710826,0.71338606911949],"aabb_xy":[[-0.28359552215140116,0.4704260355401252],[-0.20155963537865937,0.5704260368020398]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_1","position":[-0.018120870809484102,1.1283442164541624,0.71338606911949],"aabb_xy":[[-0.0676012920234429,1.0643442185413108],[0.03135955040447469,1.1923442143670144]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_2","position":[0.6672188004585089,0.06036668146788804,0.71338606911949],"aabb_xy":[[0.6426725848357582,0.03011778491885098],[0.6917650160812596,0.0906155780169251]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_3","position":[-0.5322914814323344,-2.3671158806266375,0.71338606911949],"aabb_xy":[[-0.5497914807104213,-2.3844539806929834],[-0.5147914821542475,-2.3497777805602915]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_4","position":[-0.05880135705525735,0.7597848802783127,0.71338606911949],"aabb_xy":[[-0.10407997193640661,0.6957848809301291],[-0.013522742174108093,0.8237848796264965]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_5","position":[-0.6633601737908841,1.7572418039146265,0.71338606911949],"aabb_xy":[[-0.6803702710809347,1.7411073154163526],[-0.6463500765008334,1.7733762924129004]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_6","position":[0.4775563566984655,1.119333294756827,0.71338606911949],"aabb_xy":[[0.47027404032180176,1.0293332911473179],[0.48483867307512907,1.2093332983663359]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_7","position":[0.31768260818808036,1.7788620039830163,0.71338606911949],"aabb_xy":[[0.30574987382625235,1.7664798511751567],[0.3296153425499085,1.7912441567908755]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_8","position":[-0.3799769990028334,-0.17752329032850156,0.71338606911949],"aabb_xy":[[-0.42997700036372055,-0.22750119490391718],[-0.3299769976419461,-0.12754538575308594]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_9","position":[0.6620161973834553,-0.34071338643010574,0.71338606911949],"aabb_xy":[[0.6245161989600548,-0.3538776003979363],[0.6995161958068555,-0.32754917246227505]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_10","position":[0.3819039532795554,1.1124330508160143,0.71338606911949],"aabb_xy":[[0.37013576648489793,1.0274330509107927],[0.39367214007421303,1.1974330507212358]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_11","position":[-0.03340647869442703,0.12286495753997206,0.71338606911949],"aabb_xy":[[-0.05119998562934347,0.10506521194417441],[-0.015612971759510597,0.14066470313576973]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_12","position":[-0.424744348414401,0.9158048872187097,0.71338606911949],"aabb_xy":[[-0.48874004580949754,0.8518048889180009],[-0.36074865101930437,0.9798048855194182]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_13","position":[0.45096467206246316,-2.443078811731771,0.71338606911949],"aabb_xy":[[0.4429283373611783,-2.4511169310361876],[0.459001006763748,-2.4350406924273544]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_14","position":[0.27611149414415037,-2.452756007310943,0.71338606911949],"aabb_xy":[[0.22111601632349093,-2.5077560087448494],[0.3311069719648097,-2.3977560058770355]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_15","position":[-0.1404162481225517,0.4148055191604172,0.71338606911949],"aabb_xy":[[-0.15751832608091987,0.3976987136291475],[-0.12331417016418356,0.431912324691687]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_16","position":[-0.2114334635559067,-1.995169951461627,0.71338606911949],"aabb_xy":[[-0.23132450343624697,-2.0078257627463243],[-0.19154242367556648,-1.9825141401769306]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_17","position":[-0.14571399196728674,-2.364600085205312,0.71338606911949],"aabb_xy":[[-0.15061328427385023,-2.3922770045078803],[-0.14081469966072324,-2.3369231659027427]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_18","position":[-0.5992400395137947,-0.9972306068491237,0.71338606911949],"aabb_xy":[[-0.6073677277071079,-1.0061442152598312],[-0.5911123513204815,-0.9883169984384161]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_19","position":[-0.6121277348074708,1.493447098273847,0.71338606911949],"aabb_xy":[[-0.6233727903780887,1.4822053005497513],[-0.600882679236853,1.5046888959979419]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_20","position":[-0.26155391843542175,-1.4243057999161546,0.71338606911949],"aabb_xy":[[-0.31654616907093275,-1.4793058016594673],[-0.20656166779991086,-1.3693057981728418]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_21","position":[-0.5368207744786051,-2.183352815938666,0.71338606911949],"aabb_xy":[[-0.5714118573326502,-2.248352816223697],[-0.5022296916245598,-2.118352815653635]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_22","position":[-0.387563601258026,-0.797586216916077,0.71338606911949],"aabb_xy":[[-0.4675636017282421,-0.8058969245304256],[-0.30756360078781014,-0.7892755093017289]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_23","position":[0.5464887424257465,1.675675849372095,0.71338606911949],"aabb_xy":[[0.46648873916790357,1.595679341580111],[0.6264887456835895,1.7556723571640789]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_24","position":[0.03275299506938978,1.587195409734591,0.71338606911949],"aabb_xy":[[-0.047247007093372706,1.507240226108447],[0.11275299723215226,1.6671505933607342]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6882693186843195,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3676.png","name":"3676"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3676.png","name":"3676"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2757.png","name":"2757"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7269.png","name":"7269"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/474.png","name":"474"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6471.png","name":"6471"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":530.9975457350954,"rotation_z_degrees":74.61444031019711,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0024861236705425206,-0.006145290909344325,0.018980636880619395]},{"name":"camera_2","offset_m":[-0.005335627874830143,0.014652583418458483,0.0014437969671321042]},{"name":"camera_3","offset_m":[0.002708646506184152,-0.009254301561873107,0.0028189178476946027]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006734521829686968,-0.00011934685984590389,-0.0006164536829293922],"end_effector_yaw_offset_degrees":-0.43521793832404},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005285041479641253,0.0006386986499230291,0.0009940616553627624],"end_effector_yaw_offset_degrees":0.6821187700614089},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006984769029100258,-0.0013083784209747642,-0.0006474450450476214],"end_effector_yaw_offset_degrees":-0.5922039108788764}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0014117114125075502,-0.0007823743358246196],"position_m":[0.28031171141250755,-0.11848237433582462,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0042113057252625595,0.004427666865531845],"position_m":[0.23071130572526258,-0.40477233313446814,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0022048238102855477,0.0006944747935931292],"position_m":[0.3503951761897145,0.06669447479359314,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003910613177120917,-0.0018772308231158742],"position_m":[0.33828938682287907,0.32202276917688416,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e27cae1a04e11f2963290c22c432fd85e2e3b9fafc401484e377fc410da25b99","episode_index":22,"episode_name":"episode_0022"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0022.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_3676/tex_ceiling_textures_6471/tex_floor_textures_474/tex_table_textures_2757/tex_wall_textures_7269","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":4677141938007308292,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":4677141938007308292,"visual_seed":4677141938007308292,"scene_id":"lab_003","finished_at":"2026-09-04T00:30:58"} +{"episode_id":"ep_000023","started_at":"2026-09-04T00:31:01","dimensions":{"distractor":{"count":22,"items":[{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_0","position":[0.5688356303784714,-0.6940199256255293,0.71338606911949],"aabb_xy":[[0.47914855407035595,-0.7840199258799798],[0.6585227066865869,-0.6040199253710787]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_1","position":[-0.5219077028732085,-0.0774010019231417,0.71338606911949],"aabb_xy":[[-0.5293201584145969,-0.08325221234476964],[-0.51449524733182,-0.07154979150151373]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_2","position":[0.6471953224095328,-0.17240008690024045,0.71338606911949],"aabb_xy":[[0.5971953237636117,-0.22231963055970283],[0.6971953210554541,-0.12248054324077806]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_3","position":[0.5716919549349799,0.007677115895459163,0.71338606911949],"aabb_xy":[[0.530674011548609,-0.04232288473549817],[0.6127098983213508,0.057677116526416494]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_4","position":[0.3921410136817409,-2.2809210911455455,0.71338606911949],"aabb_xy":[[0.374594318765622,-2.318421092709797],[0.40968770859785986,-2.243421089581294]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_5","position":[-0.029968808404103986,-0.728706946043715,0.71338606911949],"aabb_xy":[[-0.06374436759479696,-0.7427454412568799],[0.003806750786588986,-0.7146684508305499]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_6","position":[-0.5361311778563953,0.43753471921179354,0.71338606911949],"aabb_xy":[[-0.5437554459465737,0.4299014956752499],[-0.5285069097662172,0.4451679427483373]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_7","position":[-0.5022881535605456,-0.8960051721636169,0.71338606911949],"aabb_xy":[[-0.5662881567791834,-0.9427282840626253],[-0.4382881503419077,-0.8492820602646086]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_8","position":[-0.2507276145599218,1.6104419702552373,0.71338606911949],"aabb_xy":[[-0.26014508912978457,1.6010257931175182],[-0.24131013999005907,1.6198581473929563]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_9","position":[0.11686456408886015,1.129602978683152,0.71338606911949],"aabb_xy":[[0.06676710010778653,1.0656029781733403],[0.16696202806993377,1.1936029791929639]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_10","position":[0.47446712149576764,1.066691828552107,0.71338606911949],"aabb_xy":[[0.4194671223191781,1.0117021537771491],[0.5294671206723571,1.1216815033270644]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_11","position":[-0.4055139420585566,0.4897479435927514,0.71338606911949],"aabb_xy":[[-0.48551394422131905,0.4097927599666078],[-0.3255139398957941,0.569703127218895]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_12","position":[-0.03107263456995424,1.188373951948114,0.71338606911949],"aabb_xy":[[-0.046235507546891326,1.173208494652995],[-0.01590976159301716,1.2035394092432325]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_13","position":[0.49242002709130106,-0.44082262257566196,0.71338606911949],"aabb_xy":[[0.41242002993172566,-0.452370223533479],[0.5724200242508762,-0.4292750216178449]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_14","position":[0.5210239753958472,-0.9465897848073819,0.71338606911949],"aabb_xy":[[0.46339350650857614,-1.0065897837340922],[0.5786544442831179,-0.886589785880671]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_15","position":[-0.5373238131371945,0.9705871164331188,0.71338606911949],"aabb_xy":[[-0.5485688687078123,0.9593453187090234],[-0.5260787575665766,0.981828914157214]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_16","position":[0.5167354901812526,1.2583199385947976,0.71338606911949],"aabb_xy":[[0.4867438274473823,1.228319939257997],[0.546727152915123,1.2883199379315982]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_17","position":[-0.5413760074546001,-1.8956634247510862,0.71338606911949],"aabb_xy":[[-0.5500739697453154,-1.907788399058561],[-0.5326780451638848,-1.8835384504436115]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_18","position":[0.3546066620743582,1.191092895835009,0.71338606911949],"aabb_xy":[[0.28960666391843914,1.164796651285097],[0.41960666023027726,1.2173891403849213]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_19","position":[-0.19362992525819656,1.2682922573824134,0.71338606911949],"aabb_xy":[[-0.21746614289880165,1.178292256573927],[-0.1697937076175915,1.3582922581909]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_20","position":[0.235839837138221,-1.1665509988542253,0.71338606911949],"aabb_xy":[[0.20083983716172515,-1.176015614901842],[0.2708398371147168,-1.1570863828066087]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_21","position":[0.6177030092813298,-2.1275605587426187,0.71338606911949],"aabb_xy":[[0.5537030073689875,-2.183471708000629],[0.6817030111936722,-2.0716494094846083]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6919879920186517,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3288.png","name":"3288"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3288.png","name":"3288"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7518.png","name":"7518"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/25.png","name":"25"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6227.png","name":"6227"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4823.png","name":"4823"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":638.504377287568,"rotation_z_degrees":330.31526812837734,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011389759322425492,0.006235520528226752,0.0010405054141218]},{"name":"camera_2","offset_m":[-0.010570844406013157,-0.005713858255012588,0.017744462433011237]},{"name":"camera_3","offset_m":[-0.008737584970700648,0.0013149773900725317,0.004196925934727983]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017015413476534204,0.0008833612441034454,0.001297376156783915],"end_effector_yaw_offset_degrees":0.4745477676494394},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008731852170389964,-0.0017018817695978563,-0.0006900819658017538],"end_effector_yaw_offset_degrees":0.9459749703610121},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009376210834854621,-0.0016261364898488564,0.001279295487538184],"end_effector_yaw_offset_degrees":0.315524675638031}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003282519969222193,1.62848160191768e-05],"position_m":[0.2756174800307778,-0.11768371518398082,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0013947337808589023,-0.004723136690786417],"position_m":[0.22789473378085892,-0.4139231366907864,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003910568069961566,0.0031615226062072623],"position_m":[0.3486894319300385,0.06916152260620727,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0008491494102432799,-0.0029356587550961478],"position_m":[0.3430491494102433,0.32096434124490386,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"00ef5fb88a6e164051e7c062ac70f1bd59176835bb89ebd251b9a0b590066aa2","episode_index":23,"episode_name":"episode_0023"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0023.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_3288/tex_ceiling_textures_4823/tex_floor_textures_6227/tex_table_textures_7518/tex_wall_textures_25","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":1199974700002216213,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":1199974700002216213,"visual_seed":1199974700002216213,"scene_id":"lab_003","finished_at":"2026-09-04T00:33:39"} +{"episode_id":"ep_000024","started_at":"2026-09-04T00:33:43","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_0","position":[-0.3472010014652756,0.7350353576413688,0.71338606911949],"aabb_xy":[[-0.39328609272000703,0.6710353603888137],[-0.30111591021054407,0.799035354893924]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_1","position":[-0.1233416133645534,1.40964505027701,0.71338606911949],"aabb_xy":[[-0.1458416131784558,1.4051704339065292],[-0.10084161355065101,1.4141196666474907]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_2","position":[0.5945817636252135,-0.21580677205483312,0.71338606911949],"aabb_xy":[[0.5836759875376508,-0.29580676845366227],[0.6054875397127762,-0.13580677565600394]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_3","position":[-0.05673712950004295,-1.5399330943479255,0.71338606911949],"aabb_xy":[[-0.08173712943256084,-1.546815762568849],[-0.031737129567525064,-1.5330504261270024]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_4","position":[-0.33430882045524796,-1.8094345588560041,0.71338606911949],"aabb_xy":[[-0.35319320422375816,-1.8283204836363571],[-0.31542443668673775,-1.7905486340756516]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_5","position":[-0.4889683679099925,0.6014179856217252,0.71338606911949],"aabb_xy":[[-0.49600981886074014,0.5943912338839307],[-0.48192691695924494,0.6084447373595198]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_6","position":[0.25350271605338515,-2.1227449714045097,0.71338606911949],"aabb_xy":[[0.2322247079099129,-2.1877449737305827],[0.2747807241968574,-2.0577449690784366]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_7","position":[0.5156539537860327,-0.4806584169095198,0.71338606911949],"aabb_xy":[[0.42596687747791717,-0.5706584171639704],[0.6053410300941481,-0.3906584166550693]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_8","position":[-0.427115162023554,-2.0845092394720774,0.71338606911949],"aabb_xy":[[-0.4315457913783942,-2.0899576112067604],[-0.42268453266871386,-2.0790608677373954]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_9","position":[0.3092296552194358,0.7043851172830067,0.71338606911949],"aabb_xy":[[0.29212757726106764,0.6872783117517369],[0.32633173317780395,0.7214919228142764]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_10","position":[-0.3663225418110914,1.507480927909445,0.71338606911949],"aabb_xy":[[-0.3751245971200641,1.499669601754516],[-0.35752048650211865,1.515292254064374]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_11","position":[0.33897736371027354,0.8175563868288749,0.71338606911949],"aabb_xy":[[0.28398188588961415,0.7625563853949678],[0.3939728415309329,0.8725563882627817]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_12","position":[0.6623464991726846,-2.3419726755803247,0.71338606911949],"aabb_xy":[[0.6422880875594444,-2.362037762489482],[0.682404910785925,-2.3219075886711673]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_13","position":[-0.16275229276389935,0.028667092045818077,0.71338606911949],"aabb_xy":[[-0.21775229194048884,-0.026322582729139565],[-0.10775229358730987,0.08365676682077572]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_14","position":[0.0667067982219407,-2.0501945449952967,0.71338606911949],"aabb_xy":[[0.04916010330582177,-2.0876945465595482],[0.08425349313805963,-2.012694543431046]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_15","position":[0.4921115523643975,1.5003163361876406,0.71338606911949],"aabb_xy":[[0.4769486793874605,1.4851508788925218],[0.5072744253413346,1.5154817934827596]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_16","position":[0.5592871130837698,1.678380688621678,0.71338606911949],"aabb_xy":[[0.5242871138909515,1.6674136426240151],[0.594287112276588,1.6893477346193402]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_17","position":[0.45260782029865143,-1.759360445816263,0.71338606911949],"aabb_xy":[[0.4301078197866107,-1.7818523041816612],[0.4751078208106919,-1.7368685874508645]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_18","position":[0.46294184743942,0.40110531876954303,0.71338606911949],"aabb_xy":[[0.45568059986901255,0.38831830850603355],[0.4702030950098274,0.4138923290330525]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_19","position":[0.5468125754586199,-1.4809288430620038,0.71338606911949],"aabb_xy":[[0.4818125769015471,-1.5106813764758864],[0.6118125740156928,-1.4511763096481212]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_20","position":[0.6954019965259297,1.7508739690111512,0.71338606911949],"aabb_xy":[[0.6862421175820531,1.7443427509676144],[0.7045618754698063,1.7574051870546885]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_21","position":[-0.6309988697209867,-0.06670766267741612,0.71338606911949],"aabb_xy":[[-0.642870952732488,-0.15170766237106648],[-0.6191267867094857,0.018292337016234228]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_22","position":[0.6152740382503197,0.251164538631083,0.71338606911949],"aabb_xy":[[0.5927749025240927,0.2286645378528201],[0.6377731739765466,0.27366453940934604]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_23","position":[-0.1365892284344733,0.5251229576910106,0.71338606911949],"aabb_xy":[[-0.2005892288120069,0.4753776908401983],[-0.07258922805693965,0.5748682245418228]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_24","position":[-0.6271192793767002,-2.540516655151357,0.71338606911949],"aabb_xy":[[-0.6403502249113815,-2.553744074173356],[-0.6138883338420189,-2.527289236129357]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_25","position":[0.5701443357980567,0.09757556859621186,0.71338606911949],"aabb_xy":[[0.5328130592728141,0.06292251380135955],[0.6074756123232993,0.13222862339106417]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_26","position":[-0.40564363490744276,-2.487641594534747,0.71338606911949],"aabb_xy":[[-0.43908381010346237,-2.5210852203656766],[-0.37220345971142316,-2.454197968703817]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_27","position":[0.30079399103833193,0.5904107180869813,0.71338606911949],"aabb_xy":[[0.2670184318476389,0.5763722228738163],[0.33456955022902485,0.6044492133001463]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_28","position":[-0.6000052850635382,-1.4962357444986591,0.71338606911949],"aabb_xy":[[-0.6238415027041434,-1.5862357453071458],[-0.5761690674229333,-1.4062357436901727]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_29","position":[0.07454936748905705,-1.0477144580020656,0.71338606911949],"aabb_xy":[[0.04455770475518672,-1.0777144573388662],[0.10454103022292738,-1.017714458665265]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_30","position":[-0.3307705848686249,0.15723239928854893,0.71338606911949],"aabb_xy":[[-0.3401880594384876,0.14781622215082993],[-0.3213531102987621,0.16664857642626799]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_31","position":[-0.21871375020102707,-2.122482659405671,0.71338606911949],"aabb_xy":[[-0.3037137486184503,-2.2073569548679566],[-0.13371375178360384,-2.0376083639433866]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_32","position":[-0.003746195350321724,-1.8509094334005085,0.71338606911949],"aabb_xy":[[-0.057761791632221726,-1.9149094362927654],[0.05026940093157828,-1.7869094305082511]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_33","position":[0.5404623436093674,-0.06351713964507821,0.71338606911949],"aabb_xy":[[0.5356187488481374,-0.06836879212406234],[0.5453059383705974,-0.05866548716609411]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.695928015783843,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8319.png","name":"8319"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8319.png","name":"8319"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2256.png","name":"2256"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5603.png","name":"5603"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4072.png","name":"4072"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6712.png","name":"6712"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":823.9450356926588,"rotation_z_degrees":213.31640830363054,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01230945674494864,0.01678465949657593,0.0052200639822451815]},{"name":"camera_2","offset_m":[-0.014284754174879365,-0.009237684220627798,-0.016350197278036393]},{"name":"camera_3","offset_m":[-0.008843940645238692,0.012955613593006062,0.00874080539339155]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019778156060305226,0.0018272778247708944,-0.0002708422124557139],"end_effector_yaw_offset_degrees":0.8051142610078477},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008965543402193253,4.767764727515826e-05,0.00021662102104339767],"end_effector_yaw_offset_degrees":0.034509605405090404},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-7.342778671729118e-06,0.0012312351820852434,0.0001586231611266],"end_effector_yaw_offset_degrees":-0.7907024399867162}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0022959184924972844,0.002272176193169686],"position_m":[0.2766040815075027,-0.11542782380683031,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003990524925169968,-0.001449918630814472],"position_m":[0.23049052492516997,-0.41064991863081446,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004627993376049464,-0.004180915214017112],"position_m":[0.3572279933760495,0.06181908478598289,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001799925629339276,0.00369713262633018],"position_m":[0.3439999256293393,0.3275971326263302,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8bdc94ce7df158992b710f27aea7b2e36179ff4db67f4b1b1b1ee6a9abe9fad1","episode_index":24,"episode_name":"episode_0024"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0024.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_8319/tex_ceiling_textures_6712/tex_floor_textures_4072/tex_table_textures_2256/tex_wall_textures_5603","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":7705734010946045871,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":7705734010946045871,"visual_seed":7705734010946045871,"scene_id":"lab_003","finished_at":"2026-09-04T00:36:37"} +{"episode_id":"ep_000025","started_at":"2026-09-04T00:36:41","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_0","position":[0.5359662354289128,0.92023556096711,0.71338606911949],"aabb_xy":[[0.5184663019949293,0.9027355610468754],[0.553466168862896,0.9377355608873444]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_1","position":[0.0696591419339283,-1.4472829318440585,0.71338606911949],"aabb_xy":[[0.005659139591126751,-1.4922237830881908],[0.13365914427672987,-1.4023420805999258]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_2","position":[0.5927254909110422,1.6213200340563074,0.71338606911949],"aabb_xy":[[0.5878261986044786,1.5936431147537384],[0.5976247832176056,1.648996953358876]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_3","position":[-0.39336567878419093,0.4212026585464912,0.71338606911949],"aabb_xy":[[-0.42201501114460716,0.39255709926941534],[-0.3647163464237747,0.44984821782356693]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_4","position":[-0.3151511260923491,-0.645699583812817,0.71338606911949],"aabb_xy":[[-0.33282675668094736,-0.6633798000922196],[-0.2974754955037507,-0.6280193675334141]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_5","position":[0.4896715854690332,-2.2419143148685,0.71338606911949],"aabb_xy":[[0.4396985199365179,-2.2919143146810335],[0.5396446510015488,-2.1919143150559677]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_6","position":[0.24315973337868668,-2.5222379842259066,0.71338606911949],"aabb_xy":[[0.2240474260207078,-2.541372763103149],[0.26227204073666555,-2.503103205348665]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_7","position":[-0.5887039222960654,1.13565197183937,0.71338606911949],"aabb_xy":[[-0.638801386277139,1.0716519713295583],[-0.5386064583149918,1.1996519723491819]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_8","position":[0.4444857664637769,1.1305168397280987,0.71338606911949],"aabb_xy":[[0.4032369554338621,1.075516840215881],[0.4857345774936916,1.185516839240316]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_9","position":[0.4427298699630977,1.3175973129651117,0.71338606911949],"aabb_xy":[[0.3577298715456745,1.2327230175028268],[0.5277298683805209,1.4024716084273967]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_10","position":[0.6122187786005675,0.1909774589338591,0.71338606911949],"aabb_xy":[[0.5747187779359887,0.17529040093363688],[0.6497187792651461,0.20666451693408125]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_11","position":[-0.1538099109456671,1.2185454016713377,0.71338606911949],"aabb_xy":[[-0.2178099131660741,1.1741723175460494],[-0.08980990872526004,1.262918485796626]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_12","position":[0.46471581650252314,-0.570524398518653,0.71338606911949],"aabb_xy":[[0.38471581433976065,-0.6504795821447965],[0.5447158186652856,-0.49056921489250926]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_13","position":[-0.414552302818201,-1.1657190309998022,0.71338606911949],"aabb_xy":[[-0.494552303091808,-1.238668578825519],[-0.334552302544594,-1.0927694831740855]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_14","position":[0.5852542136046031,-0.3700726967296295,0.71338606911949],"aabb_xy":[[0.5052542131343872,-0.378383404343978],[0.6652542140748191,-0.3617619891152812]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_15","position":[0.5959239833903458,0.48550581848069774,0.71338606911949],"aabb_xy":[[0.5789138861002951,0.46937132998242387],[0.6129340806803965,0.5016403069789717]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_16","position":[-0.5570254216766168,-2.1227062657999634,0.71338606911949],"aabb_xy":[[-0.5652399667923007,-2.131382856097604],[-0.5488108765609327,-2.114029675502321]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_17","position":[0.5000323287154842,-1.7118927289076673,0.71338606911949],"aabb_xy":[[0.494574383078464,-1.7918927322153264],[0.5054902743525042,-1.6318927256000082]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_18","position":[0.48031114758724835,0.14473163595748506,0.71338606911949],"aabb_xy":[[0.4678437894775128,0.13226631132416156],[0.4927785056969841,0.15719696059080857]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_19","position":[-0.4456367116739911,-2.054364203796231,0.71338606911949],"aabb_xy":[[-0.4824872596109787,-2.091864204619265],[-0.4087861637370035,-2.0168642029731974]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_20","position":[0.29820618144071687,-1.3658577379493868,0.71338606911949],"aabb_xy":[[0.2678080703415732,-1.396264639951056],[0.3286042925398604,-1.335450835947717]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_21","position":[-0.290086206638277,0.9051241964081838,0.71338606911949],"aabb_xy":[[-0.33508620810450584,0.8601243395467032],[-0.24508620517204815,0.9501240532696645]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_22","position":[0.5044664598577571,-0.15885874885044604,0.71338606911949],"aabb_xy":[[0.499510439672876,-0.18135874905256769],[0.5094224800426383,-0.13635874864832445]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_23","position":[-0.4871726612861772,0.22408267557285289,0.71338606911949],"aabb_xy":[[-0.5284772043499131,0.16008267600473577],[-0.44586811822244116,0.28808267514096997]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_24","position":[-0.4266180593468407,-0.9901211522480433,0.71338606911949],"aabb_xy":[[-0.4625315637718304,-1.0260346604647976],[-0.390704554921851,-0.9542076440312884]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_25","position":[0.4493468697644214,0.6301671975838601,0.71338606911949],"aabb_xy":[[0.4022174907625856,0.566167196539458],[0.49647624876625696,0.6941671986282619]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_26","position":[0.6445332413337455,1.4178150560303382,0.71338606911949],"aabb_xy":[[0.6100707633206577,1.4111513788474155],[0.6789957193468332,1.424478733213261]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_27","position":[-0.24440690810197047,1.6027395466177796,0.71338606911949],"aabb_xy":[[-0.2662966556909112,1.5127395493285305],[-0.22251716051302967,1.6927395439070287]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_28","position":[-0.19286840446997122,1.0428377805496876,0.71338606911949],"aabb_xy":[[-0.20099609266328441,1.0339241721389798],[-0.18474071627665797,1.0517513889603953]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6936352330395509,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6834.png","name":"6834"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6834.png","name":"6834"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7619.png","name":"7619"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8326.png","name":"8326"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7274.png","name":"7274"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6672.png","name":"6672"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":737.291440903309,"rotation_z_degrees":299.2723847050482,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012612536469715475,-0.006011214585501539,-0.004064525356174152]},{"name":"camera_2","offset_m":[0.018129338730868607,0.004296780782382128,-0.012247840887891121]},{"name":"camera_3","offset_m":[0.015745539467807445,0.014572639556556261,-0.01659813992142201]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004220427873236009,8.419637660335953e-06,0.0008457120939910118],"end_effector_yaw_offset_degrees":0.7404709127460756},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00121052323414856,-6.958002836628856e-05,0.0006401948450711586],"end_effector_yaw_offset_degrees":-0.5959489481203737},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018349315382874712,0.0004141258933711735,-0.0007086185447531478],"end_effector_yaw_offset_degrees":0.6071834096180171}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0023946290162831984,0.0037204334816818138],"position_m":[0.28129462901628316,-0.11397956651831818,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-8.60831724508104e-05,0.004432860261922263],"position_m":[0.2264139168275492,-0.40476713973807776,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0023190876123373194,0.0027006112965295894],"position_m":[0.3502809123876627,0.06870061129652959,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0013423864011483243,0.004707363451529408],"position_m":[0.3408576135988517,0.3286073634515294,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1d61a3c824e53326c917bda8d4b50caa9e4310abbac85beb1f5cf1f41edc3eab","episode_index":25,"episode_name":"episode_0025"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0025.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_6834/tex_ceiling_textures_6672/tex_floor_textures_7274/tex_table_textures_7619/tex_wall_textures_8326","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":2776241101922314236,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":2776241101922314236,"visual_seed":2776241101922314236,"scene_id":"lab_003","finished_at":"2026-09-04T00:39:28"} +{"episode_id":"ep_000026","started_at":"2026-09-04T00:39:31","dimensions":{"distractor":{"count":28,"items":[{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_0","position":[-0.2371309748757252,-0.47109882528814184,0.71338606911949],"aabb_xy":[[-0.2621309740413583,-0.4780510709934984],[-0.2121309757100921,-0.46414657958278527]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_1","position":[0.6148822612885061,-2.486366203972974,0.71338606911949],"aabb_xy":[[0.6102471461362726,-2.4902335390501222],[0.6195173764407393,-2.4824988688958247]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_2","position":[-0.39004407394579776,0.433907088427985,0.71338606911949],"aabb_xy":[[-0.4550440765835913,0.38242748972853796],[-0.32504407130800433,0.4853866871274319]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_3","position":[-0.3620834383685588,-2.0913265645355583,0.71338606911949],"aabb_xy":[[-0.42608343479588073,-2.138496188357655],[-0.2980834419412369,-2.0441569407134623]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_4","position":[-0.2983539247841681,-0.8664886085970489,0.71338606911949],"aabb_xy":[[-0.33426742920915775,-0.9024021168138036],[-0.26244042035917836,-0.8305751003802943]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_5","position":[0.41620164179077124,-0.6886936116666529,0.71338606911949],"aabb_xy":[[0.393687949967314,-0.7586936122676604],[0.4387153336142284,-0.6186936110656454]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_6","position":[-0.6135970577736295,1.2737658237801894,0.71338606911949],"aabb_xy":[[-0.6785970588795729,1.2488004507120611],[-0.5485970566676863,1.2987311968483177]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_7","position":[0.39673448170139936,-1.8447327546047287,0.71338606911949],"aabb_xy":[[0.3688894449207923,-1.8755172533430404],[0.42457951848200653,-1.813948255866417]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_8","position":[0.5604265936487614,-1.3516259517641063,0.71338606911949],"aabb_xy":[[0.4954265954928423,-1.3779221963140185],[0.6254265918046804,-1.325329707214194]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_9","position":[0.2505786906669212,-2.352109899887543,0.71338606911949],"aabb_xy":[[0.23742744469563182,-2.3771098996442297],[0.26372993663821054,-2.3271099001308566]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_10","position":[-0.4548703927866671,-1.1950963279628126,0.71338606911949],"aabb_xy":[[-0.5198703913437399,-1.2248488613766955],[-0.3898703942295942,-1.1653437945489302]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_11","position":[0.24428714828609577,-0.7999973031029439,0.71338606911949],"aabb_xy":[[0.23704338223985044,-0.8799973013065463],[0.2515309143323411,-0.7199973048993416]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_12","position":[0.3224532086395797,1.7976968428911255,0.71338606911949],"aabb_xy":[[0.3046597017046633,1.7798970972953276],[0.34024671557449615,1.815496588486923]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_13","position":[0.1740705124187627,-1.556746278722394,0.71338606911949],"aabb_xy":[[0.11007051513311406,-1.5982529976752378],[0.23807050970441135,-1.5152395597695498]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_14","position":[0.6355941252605977,-0.7779107017981839,0.71338606911949],"aabb_xy":[[0.5655941236583182,-0.7913434949998415],[0.7055941268628771,-0.7644779085965263]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_15","position":[0.0701136068251963,0.8902287110570444,0.71338606911949],"aabb_xy":[[0.006113606564725495,0.8452199117041164],[0.1341136070856671,0.9352375104099724]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_16","position":[-0.06358359455502927,-1.9473351956649694,0.71338606911949],"aabb_xy":[[-0.067661752462079,-1.9514161759132327],[-0.059505436647979526,-1.943254215416706]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_17","position":[-0.41751277328710534,1.4169870528393775,0.71338606911949],"aabb_xy":[[-0.4715283695690053,1.3529870499471202],[-0.3634971770052053,1.4809870557316345]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_18","position":[-0.5141926665222861,1.648909905209441,0.71338606911949],"aabb_xy":[[-0.5509872996471924,1.6120040301128586],[-0.47739803339737985,1.6858157803060232]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_19","position":[-0.5626310978016054,0.1468266179175055,0.71338606911949],"aabb_xy":[[-0.6463533233016878,0.05682661438280953],[-0.4789088723015229,0.23682662145220143]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_20","position":[-0.5331218193037501,1.4918912784668454,0.71338606911949],"aabb_xy":[[-0.5443668748743679,1.48064948074275],[-0.5218767637331322,1.5031330761909405]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_21","position":[-0.17161348219147343,-1.610974819411961,0.71338606911949],"aabb_xy":[[-0.21874286119330905,-1.6749748204563628],[-0.12448410318963771,-1.546974818367559]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_22","position":[0.4141919863041943,-2.218196264869763,0.71338606911949],"aabb_xy":[[0.3641919868639986,-2.268164189354079],[0.46419198574438986,-2.1682283403854465]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_23","position":[-0.4417410511848149,-1.6306141768330575,0.71338606911949],"aabb_xy":[[-0.531741050907989,-1.6536875293682374],[-0.3517410514616407,-1.6075408242978777]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_24","position":[0.3265045516897749,1.563837460991388,0.71338606911949],"aabb_xy":[[0.276525743179459,1.5138374609856693],[0.37648336020009077,1.613837460997107]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_25","position":[-0.41693081974262847,0.7818829277519614,0.71338606911949],"aabb_xy":[[-0.48193082074312893,0.7310965625972865],[-0.3519308187421279,0.8326692929066364]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_26","position":[-0.39847496557338563,-0.2702133303691978,0.71338606911949],"aabb_xy":[[-0.4268046755219259,-0.2746740725629149],[-0.37014525562484546,-0.26575258817548075]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_27","position":[0.60064258170059,1.420556001941573,0.71338606911949],"aabb_xy":[[0.5773607395024587,1.3355560006443448],[0.6239244238987214,1.505556003238801]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6937290997976558,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1296.png","name":"1296"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1296.png","name":"1296"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9111.png","name":"9111"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7498.png","name":"7498"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9460.png","name":"9460"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/440.png","name":"440"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":842.2527396861319,"rotation_z_degrees":83.48818118293292,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014657035614600706,-0.01276445137330302,0.013942514235603911]},{"name":"camera_2","offset_m":[0.002866762725811073,-0.005110262722830012,-0.009013245718239271]},{"name":"camera_3","offset_m":[-0.017891960978220905,0.007040889047054053,-0.005680657856813088]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[5.131756303134545e-05,-0.0019033125248736251,-0.00017564525275775775],"end_effector_yaw_offset_degrees":0.6829467371943387},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00036267439329042963,-0.0004656604449524591,-0.00020387963452455217],"end_effector_yaw_offset_degrees":0.40606666874706354},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007968836628534585,-0.0010933556766783378,-0.00015030598837070287],"end_effector_yaw_offset_degrees":0.24151885833466014}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0008147079325756326,0.003993203677655234],"position_m":[0.27808529206742433,-0.11370679632234476,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002508293269785289,-0.0036023368337248386],"position_m":[0.2239917067302147,-0.41280233683372486,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002896126859861089,0.004250191205369677],"position_m":[0.34970387314013895,0.07025019120536968,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0012651441232219905,0.004761912414028547],"position_m":[0.340934855876778,0.3286619124140286,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2db142d23342a2082df7b64afba473ffa49b0dd65f257f484d1acdccb52211e6","episode_index":26,"episode_name":"episode_0026"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0026.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_1296/tex_ceiling_textures_440/tex_floor_textures_9460/tex_table_textures_9111/tex_wall_textures_7498","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":7104555330918348665,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":7104555330918348665,"visual_seed":7104555330918348665,"scene_id":"lab_003","finished_at":"2026-09-04T00:42:16"} +{"episode_id":"ep_000027","started_at":"2026-09-04T00:42:19","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_0","position":[-0.23437703059870746,0.8567184263052376,0.71338606911949],"aabb_xy":[[-0.25426807047904776,0.844062615020541],[-0.21448599071836724,0.8693742375899347]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_1","position":[0.14045460610930238,-0.8763442844845033,0.71338606911949],"aabb_xy":[[0.10545460475782066,-0.8967040204413241],[0.17545460746078412,-0.8559845485276825]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_2","position":[-0.28837043165197934,-0.13728979264407748,0.71338606911949],"aabb_xy":[[-0.3382531285296756,-0.18728979189035222],[-0.2384877347742832,-0.08728979339780273]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_3","position":[0.20044572390408932,-1.0062052788334543,0.71338606911949],"aabb_xy":[[0.13644572363011112,-1.0562713790307423],[0.26444572417806755,-0.9561391786361664]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_4","position":[0.14562777877177346,-2.351066370583394,0.71338606911949],"aabb_xy":[[0.09564897026145758,-2.401066370589113],[0.19560658728208935,-2.3010663705776753]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_5","position":[-0.1512256397014451,1.0341372984095334,0.71338606911949],"aabb_xy":[[-0.18622563889426333,1.0231702524118707],[-0.1162256405086268,1.0451043444071957]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_6","position":[-0.21347920251338742,1.2578930656960967,0.71338606911949],"aabb_xy":[[-0.23847920244590531,1.2510103974751734],[-0.18847920258086953,1.26477573391702]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_7","position":[-0.558807184255179,-1.1039655421007515,0.71338606911949],"aabb_xy":[[-0.6138071824569238,-1.144487508727189],[-0.5038071860534341,-1.063443575474314]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_8","position":[0.2214058130863059,-2.1024131361474288,0.71338606911949],"aabb_xy":[[0.13768358758622343,-2.1924131396821247],[0.3051280385863884,-2.012413132612733]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_9","position":[0.332537564849924,-1.1815567994100649,0.71338606911949],"aabb_xy":[[0.31909103821588075,-1.1950266510631562],[0.3459840914839674,-1.1680869477569735]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_10","position":[-0.22236065725086573,-1.8191991851507956,0.71338606911949],"aabb_xy":[[-0.2773343792871986,-1.8741991847150288],[-0.16738693521453285,-1.7641991855865624]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_11","position":[-0.029448262793757007,-2.1256050148535173,0.71338606911949],"aabb_xy":[[-0.07163267695458775,-2.189605015130728],[0.012736151367073734,-2.0616050145763056]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_12","position":[0.4528049152787712,1.5388192721589982,0.71338606911949],"aabb_xy":[[0.37280491202092825,1.458822764367014],[0.5328049185366142,1.618815779950982]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_13","position":[-0.07837010884880935,-0.3878149789970413,0.71338606911949],"aabb_xy":[[-0.082486058960882,-0.39193053402988676],[-0.07425415873673667,-0.38369942396419576]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_14","position":[0.21573744152973817,-0.6861530628696912,0.71338606911949],"aabb_xy":[[0.2070394792390229,-0.698278037177166],[0.2244354038204535,-0.6740280885622165]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_15","position":[0.15863105536598088,0.9576157934751843,0.71338606911949],"aabb_xy":[[0.08863105355723544,0.936262024710997],[0.22863105717472632,0.9789695622393717]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_16","position":[0.4326762119155809,1.263187409545377,0.71338606911949],"aabb_xy":[[0.3686762126214127,1.1992012691765226],[0.49667621120974914,1.327173549914231]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_17","position":[-0.12355429451499533,0.8734062907684583,0.71338606911949],"aabb_xy":[[-0.14605071594885943,0.8509062909617108],[-0.10105787308113123,0.8959062905752057]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_18","position":[0.5171946712170079,0.49812105336116064,0.71338606911949],"aabb_xy":[[0.42719467149383367,0.47504770082598075],[0.607194670940182,0.5211944058963404]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_19","position":[-0.28735139086896605,-0.4895167116138488,0.71338606911949],"aabb_xy":[[-0.36735139229909325,-0.5690338666264582],[-0.20735138943883885,-0.4099995566012392]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_20","position":[-0.1542609501695883,-1.6335430510795792,0.71338606911949],"aabb_xy":[[-0.19925353688803868,-1.678543050354028],[-0.10926836345113786,-1.5885430518051304]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_21","position":[0.08957333898199982,-1.5579137256430964,0.71338606911949],"aabb_xy":[[0.07832828341138198,-1.5691555233671919],[0.10081839455261765,-1.5466719279190013]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_22","position":[-0.21816522332032207,0.43955790166680453,0.71338606911949],"aabb_xy":[[-0.24200144096092716,0.3495579008583181],[-0.19432900567971703,0.5295579024752911]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_23","position":[-0.3828725090610592,-1.5163769046218056,0.71338606911949],"aabb_xy":[[-0.38820502371567217,-1.5217012328670412],[-0.3775399944064462,-1.51105257637657]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_24","position":[0.5860914608690775,-2.008363520261298,0.71338606911949],"aabb_xy":[[0.5747297262157913,-2.0197319866675856],[0.5974531955223636,-1.9969950538550096]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_25","position":[0.6203875850806839,-2.353881612411613,0.71338606911949],"aabb_xy":[[0.5553875840801834,-2.404667977566288],[0.6853875860811844,-2.303095247256938]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_26","position":[-0.4241496348130982,-2.0959364474008972,0.71338606911949],"aabb_xy":[[-0.5041496334699842,-2.1104413063251606],[-0.34414963615621225,-2.081431588476635]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_27","position":[0.6909701022428563,-1.3664026288662743,0.71338606911949],"aabb_xy":[[0.665970103077223,-1.3733548745716309],[0.7159701014084893,-1.3594503831609177]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_28","position":[-0.5575015336056521,-0.29486223597688,0.71338606911949],"aabb_xy":[[-0.581086657069547,-0.3598622382223118],[-0.5339164101417573,-0.2298622337314482]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_29","position":[-0.33200766266935616,-0.7471781272192557,0.71338606911949],"aabb_xy":[[-0.3360858205764059,-0.751259107467519],[-0.3279295047623064,-0.7430971469709924]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_30","position":[-0.2719435460711373,-2.358710507135337,0.71338606911949],"aabb_xy":[[-0.36194354974805537,-2.4201429137124406],[-0.18194354239421903,-2.297278100558232]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6931153555068238,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6615.png","name":"6615"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6615.png","name":"6615"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4306.png","name":"4306"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1930.png","name":"1930"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7894.png","name":"7894"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3264.png","name":"3264"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":650.5395421801492,"rotation_z_degrees":211.4221808908631,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0038799493064472744,0.012715133206365786,-0.017442694957643973]},{"name":"camera_2","offset_m":[-0.0070809494920843815,0.0001350029178350462,0.00188745815762573]},{"name":"camera_3","offset_m":[0.00893482536830478,0.010385397809774786,-0.010744995282809136]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015034328165210056,0.00048654609780212493,0.000240764157233982],"end_effector_yaw_offset_degrees":-0.9720391974548364},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009727917834245652,-0.0017277643934845153,-0.0006112477565491355],"end_effector_yaw_offset_degrees":-0.8446163079337612},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001822667093239186,0.000359047144713544,-0.0006718161987609675],"end_effector_yaw_offset_degrees":0.264397944876293}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0014657296029754107,0.001589581375339713],"position_m":[0.27743427039702456,-0.11611041862466029,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00011797697230537738,0.0029819743534819686],"position_m":[0.22661797697230537,-0.40621802564651804,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001959091218984892,7.492193096037512e-05],"position_m":[0.3506409087810151,0.06607492193096037,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0009204101276232132,0.0028202869859360524],"position_m":[0.3412795898723768,0.3267202869859361,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"04819bcad0f467ce1bd0c3ca129ce5a1ead7fa0a96a884d272b84240c77fbbe4","episode_index":27,"episode_name":"episode_0027"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0027.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_6615/tex_ceiling_textures_3264/tex_floor_textures_7894/tex_table_textures_4306/tex_wall_textures_1930","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":1063042101452109195,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":1063042101452109195,"visual_seed":1063042101452109195,"scene_id":"lab_003","finished_at":"2026-09-04T00:45:02"} +{"episode_id":"ep_000028","started_at":"2026-09-04T00:45:07","dimensions":{"distractor":{"count":34,"items":[{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_0","position":[-0.5836338456653368,-0.4706405193533887,0.71338606911949],"aabb_xy":[[-0.6673560711654193,-0.5606405228880846],[-0.49991162016525437,-0.38064051581869274]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_1","position":[-0.673280227651617,0.8013390520867527,0.71338606911949],"aabb_xy":[[-0.6910737345865334,0.783539306490955],[-0.6554867207167006,0.8191387976825504]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_2","position":[0.588389855529817,-0.743376288228111,0.71338606911949],"aabb_xy":[[0.5692775481718382,-0.762511067105353],[0.6075021628877959,-0.724241509350869]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_3","position":[-0.03778839376210863,1.7493774252955565,0.71338606911949],"aabb_xy":[[-0.05521910884111513,1.7321053106317055],[-0.020357678683102117,1.766649539959407]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_4","position":[-0.6714888621250761,0.43574314338768305,0.71338606911949],"aabb_xy":[[-0.6840915612621526,0.4231477471628176],[-0.6588861629879997,0.4483385396125486]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_5","position":[0.20042071430577313,-2.217625398296389,0.71338606911949],"aabb_xy":[[0.14279024541850222,-2.2776253972230993],[0.2580511831930439,-2.157625399369678]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_6","position":[0.5732420565043763,0.6942639946802234,0.71338606911949],"aabb_xy":[[0.5585986509503433,0.679605275023439],[0.5878854620584093,0.7089227143370075]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_7","position":[-0.05701770107679116,1.5463715330718686,0.71338606911949],"aabb_xy":[[-0.08156391669954188,1.5161226365228317],[-0.032471485454040445,1.5766204296209059]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_8","position":[0.46285778329463834,-2.5653962945459194,0.71338606911949],"aabb_xy":[[0.4536979043507617,-2.5719275125894563],[0.4720176622385149,-2.5588650765023826]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_9","position":[0.28692744814353943,-2.0296790292896487,0.71338606911949],"aabb_xy":[[0.2229274467355488,-2.0814679808135734],[0.3509274495515301,-1.9778900777657242]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_10","position":[0.3080229459125432,-1.1627330740411754,0.71338606911949],"aabb_xy":[[0.2711723979755556,-1.2002330748642092],[0.3448734938495308,-1.1252330732181417]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_11","position":[0.35911732493961956,-0.6833883876675675,0.71338606911949],"aabb_xy":[[0.33783931679614726,-0.7483883899936404],[0.38039533308309176,-0.6183883853414943]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_12","position":[-0.10513286631817997,-2.009571300709041,0.71338606911949],"aabb_xy":[[-0.14643740938191596,-2.073571300277158],[-0.06382832325444397,-1.945571301140924]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_13","position":[0.47605321511552345,-0.2782155764990426,0.71338606911949],"aabb_xy":[[0.4626066884814802,-0.29168542815213383],[0.48949974174956684,-0.2647457248459514]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_14","position":[-0.30290575408040193,-2.0836531475027305,0.71338606911949],"aabb_xy":[[-0.3729057504903637,-2.1040910831544113],[-0.2329057576704401,-2.063215211851048]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_15","position":[-0.40223415514576055,0.8388934817616334,0.71338606911949],"aabb_xy":[[-0.4922341588226786,0.7774610751845287],[-0.3122341514688423,0.9003258883387374]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_16","position":[0.04624801506733789,-2.304622991533218,0.71338606911949],"aabb_xy":[[0.02374801505718959,-2.318719211172821],[0.06874801507748618,-2.2905267718936146]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_17","position":[0.15437240516282558,1.0763451877808503,0.71338606911949],"aabb_xy":[[0.08937240416232509,1.0255588226261751],[0.21937240616332612,1.127131552935525]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_18","position":[0.33726642402772544,-1.711193777207503,0.71338606911949],"aabb_xy":[[0.27326642376725463,-1.7562025765604308],[0.40126642428819626,-1.6661849778545748]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_19","position":[0.37926215195790514,0.6300217490781628,0.71338606911949],"aabb_xy":[[0.2942621535404819,0.5451474536158779],[0.46426215037532836,0.7148960445404479]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_20","position":[0.6439680830010093,0.5001317417286129,0.71338606911949],"aabb_xy":[[0.6054223901758082,0.4615859706724242],[0.6825137758262103,0.5386775127848015]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_21","position":[-0.6133792949284886,-1.9014669723571518,0.71338606911949],"aabb_xy":[[-0.6262511984294288,-1.9814669727709877],[-0.6005073914275485,-1.8214669719433154]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_22","position":[-0.2890890471626489,-2.3886545463661406,0.71338606911949],"aabb_xy":[[-0.2991707542412223,-2.468654544258255],[-0.27900734008407535,-2.3086545484740255]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_23","position":[-0.33871018758226207,-0.6991931918051095,0.71338606911949],"aabb_xy":[[-0.4187101849858555,-0.7791857630032922],[-0.25871019017866864,-0.6192006206069266]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_24","position":[0.6212764227172769,0.05360909042387174,0.71338606911949],"aabb_xy":[[0.5712764240713557,0.003689546764409357],[0.6712764213631981,0.10352863408333413]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_25","position":[0.656078323581996,0.8074205017987883,0.71338606911949],"aabb_xy":[[0.5920783264698902,0.7583881320043778],[0.7200783206941016,0.856452871593199]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_26","position":[-0.11034521120176177,-2.5501503251914928,0.71338606911949],"aabb_xy":[[-0.14784521114552818,-2.55844341522633],[-0.07284521125799535,-2.5418572351566566]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_27","position":[-0.6140947225258897,1.2082445250777911,0.71338606911949],"aabb_xy":[[-0.6756854817498826,1.1442445269687442],[-0.552503963301897,1.272244523186838]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_28","position":[-0.3023127459577917,-0.20255186689772398,0.71338606911949],"aabb_xy":[[-0.3373127473092734,-0.2229116028545448],[-0.26731274460630994,-0.18219213094090314]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_29","position":[0.587668699734107,-2.284303842030045,0.71338606911949],"aabb_xy":[[0.5775156841799575,-2.3203733836027847],[0.5978217152882562,-2.248234300457304]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_30","position":[0.1639780588366394,-1.813891406838493,0.71338606911949],"aabb_xy":[[0.09997806155099079,-1.855398125791337],[0.22797805612228808,-1.772384687885649]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_31","position":[0.17052220145368102,-1.5744138125529525,0.71338606911949],"aabb_xy":[[0.15046378984044073,-1.5944788994621102],[0.1905806130669213,-1.554348725643795]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_32","position":[-0.3831570660719765,0.6067211115989624,0.71338606911949],"aabb_xy":[[-0.4371726623538765,0.5427211087067052],[-0.32914146979007647,0.6707211144912195]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_33","position":[-0.5339106453629259,0.20212492768609636,0.71338606911949],"aabb_xy":[[-0.5514106446410126,0.1847868276197504],[-0.5164106460848389,0.2194630277524423]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6895651208493331,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/280.png","name":"280"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/280.png","name":"280"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1389.png","name":"1389"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2681.png","name":"2681"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3912.png","name":"3912"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5579.png","name":"5579"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":732.9170045018874,"rotation_z_degrees":213.05974689795727,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010726032372945733,-0.01551551558790758,-0.018615027560833698]},{"name":"camera_2","offset_m":[0.015003833139293942,-0.007167650668489177,-0.0024520996266619403]},{"name":"camera_3","offset_m":[0.01549131402676537,0.01339732166871092,-0.0029996477947351018]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009689905819979031,0.00038246525118194267,0.00026659215114735154],"end_effector_yaw_offset_degrees":-0.29685844414721374},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00011188523612089838,0.0016216932948231039,-0.0015346915614959644],"end_effector_yaw_offset_degrees":0.40990815563240424},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000216132072106186,0.0013354730054501544,-0.001769612750902986],"end_effector_yaw_offset_degrees":-0.23725318777717574}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00022310976828308036,-0.003674454889483766],"position_m":[0.2791231097682831,-0.12137445488948377,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0019121262280780214,0.0022860563470525072],"position_m":[0.224587873771922,-0.4069139436529475,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002262618562115264,0.003590171385486185],"position_m":[0.35486261856211526,0.06959017138548619,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0017178404283314562,-0.003257557960364419],"position_m":[0.34048215957166855,0.3206424420396356,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f1c85de55faecf86f58d4249c3226fb655ec42436f95e4c6a213b72e0505b02b","episode_index":28,"episode_name":"episode_0028"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0028.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_280/tex_ceiling_textures_5579/tex_floor_textures_3912/tex_table_textures_1389/tex_wall_textures_2681","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":9167355089377355359,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":9167355089377355359,"visual_seed":9167355089377355359,"scene_id":"lab_003","finished_at":"2026-09-04T00:47:49"} +{"episode_id":"ep_000029","started_at":"2026-09-04T00:47:53","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_0","position":[0.06293367528184579,1.6388105816228635,0.71338606911949],"aabb_xy":[[0.02834259242780057,1.5738105813378322],[0.097524758135891,1.7038105819078944]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_1","position":[0.5692163385312161,1.1696921152542021,0.71338606911949],"aabb_xy":[[0.5473076563918651,1.1477914484341112],[0.5911250206705672,1.1915927820742926]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_2","position":[-0.44259779282729395,-1.2329733496449535,0.71338606911949],"aabb_xy":[[-0.532597796504212,-1.2944057562220577],[-0.3525977891503757,-1.171540943067849]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_3","position":[0.22093265538968776,-2.3242924316757128,0.71338606911949],"aabb_xy":[[0.13593265697226453,-2.4091667271379977],[0.305932653807111,-2.239418136213428]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_4","position":[0.3426787544309775,-1.8488015279311112,0.71338606911949],"aabb_xy":[[0.2626787564501925,-1.8564030688929631],[0.4226787524117626,-1.8411999869692592]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_5","position":[-0.13865091778912342,1.0858752220088053,0.71338606911949],"aabb_xy":[[-0.15615091804846007,1.0717836798200329],[-0.12115091752978682,1.099966764197578]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_6","position":[0.030765837204980162,-1.1543297554159992,0.71338606911949],"aabb_xy":[[0.026335207850139986,-1.159778127150682],[0.03519646655982034,-1.148881383681317]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_7","position":[0.10066761528207013,-2.051683031271102,0.71338606911949],"aabb_xy":[[0.0621219224568691,-2.0902288023272906],[0.13921330810727117,-2.013137260214913]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_8","position":[-0.4663260070422496,0.22839431679821987,0.71338606911949],"aabb_xy":[[-0.46976668328230675,0.22453288382385542],[-0.4628853308021924,0.23225574977258437]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_9","position":[0.1197456306884116,-1.7760589310316062,0.71338606911949],"aabb_xy":[[0.03974563372537242,-1.8531345726753794],[0.19974562765145076,-1.6989832893878325]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_10","position":[-0.6648334467591492,1.2305274172236476,0.71338606911949],"aabb_xy":[[-0.6803892161694145,1.2149769839792404],[-0.649277677348884,1.2460778504680547]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_11","position":[0.60064876737336,-1.7781419549465078,0.71338606911949],"aabb_xy":[[0.5456565167378492,-1.8331419566898208],[0.6556410180088711,-1.7231419532031953]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_12","position":[-0.487565917035074,1.7945338440374496,0.71338606911949],"aabb_xy":[[-0.5049966321140804,1.7772617293735986],[-0.47013520195606745,1.8118059587013002]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_13","position":[-0.35351349220918393,-2.22221289104539,0.71338606911949],"aabb_xy":[[-0.43351349086606994,-2.236717749969653],[-0.2735134935522979,-2.2077080321211273]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_14","position":[0.6426074686074634,-2.2969846261518088,0.71338606911949],"aabb_xy":[[0.6384915184953907,-2.301100181184654],[0.646723418719536,-2.2928690711189628]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_15","position":[-0.5794205110459902,1.3990027852364308,0.71338606911949],"aabb_xy":[[-0.5895022181245636,1.3190027873443162],[-0.5693388039674167,1.4790027831285455]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_16","position":[-0.604237880286805,0.12431879799000356,0.71338606911949],"aabb_xy":[[-0.6842378813599254,0.11454075165261914],[-0.5242378792136847,0.134096844327388]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_17","position":[-0.5323820503499282,-1.8300296020311975,0.71338606911949],"aabb_xy":[[-0.569713326875171,-1.86468265682605],[-0.49505077382468576,-1.7953765472363454]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_18","position":[0.4082864297092794,-1.5874311631775913,0.71338606911949],"aabb_xy":[[0.324564204209197,-1.6774311667122872],[0.49200865520936193,-1.4974311596428953]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_19","position":[-0.011651578092918169,0.15831003987869163,0.71338606911949],"aabb_xy":[[-0.01774620598103649,0.14974064532702291],[-0.005556950204799849,0.16687943443036035]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_20","position":[-0.588520603963673,-1.9555009076308016,0.71338606911949],"aabb_xy":[[-0.6525206043412066,-2.0052461744816137],[-0.5245206035861394,-1.9057556407799892]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_21","position":[-0.5245513635420762,-2.459969575157632,0.71338606911949],"aabb_xy":[[-0.5601805194420358,-2.4956022419144848],[-0.48892220764211636,-2.424336908400779]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_22","position":[0.4901383772000778,-0.9401168522315717,0.71338606911949],"aabb_xy":[[0.46513837803444474,-0.9470690979369283],[0.5151383763657109,-0.9331646065262151]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_23","position":[0.0238878061582235,0.7855486224684274,0.71338606911949],"aabb_xy":[[0.01332032650012449,0.7750035923554188],[0.03445528581632251,0.7960936525814359]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_24","position":[-0.1656306412072368,-0.13809974823214732,0.71338606911949],"aabb_xy":[[-0.20009298860537855,-0.17259363062996996],[-0.13116829380909495,-0.10360586583432459]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_25","position":[0.25098390186672737,-1.9984963803119076,0.71338606911949],"aabb_xy":[[0.22058579076758375,-2.028903282313577],[0.2813820129658709,-1.9680894783102383]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_26","position":[-0.2066836462081726,-0.5812988204913649,0.71338606911949],"aabb_xy":[[-0.22918364621832088,-0.5953950401309682],[-0.1841836461980243,-0.5672026008517617]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6904936109321009,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/803.png","name":"803"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/803.png","name":"803"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3810.png","name":"3810"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5775.png","name":"5775"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3866.png","name":"3866"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/441.png","name":"441"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":580.6025197612487,"rotation_z_degrees":306.23753069988993,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014015731753737614,-0.006879287726868508,0.017999403576709993]},{"name":"camera_2","offset_m":[-0.012832193965421741,-0.004882064222929956,-0.014590084716463414]},{"name":"camera_3","offset_m":[-0.0009389099535359463,0.004108457421190419,-0.014400009269669183]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013894117213164303,0.0009490116910676498,0.0008267699842789467],"end_effector_yaw_offset_degrees":0.3065883396974798},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007953641524293001,0.0012085216440571606,0.0006879588216840301],"end_effector_yaw_offset_degrees":0.18320177679810246},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018563604577050458,-0.0013895014435124989,-0.0008358097154909378],"end_effector_yaw_offset_degrees":-0.7178846042703275}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002972208161583248,0.0043350287781173955],"position_m":[0.2818722081615832,-0.1133649712218826,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002433891005170761,0.0019228223499482512],"position_m":[0.22893389100517078,-0.4072771776500518,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0039311892804223345,-0.004911197714287322],"position_m":[0.34866881071957767,0.06108880228571268,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0013553539356642684,-0.0019524390443629337],"position_m":[0.34084464606433573,0.3219475609556371,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"99af5cb63aad64e712fe74b5a1900cc10d9ead6094bf0284cdfb694dddd54a52","episode_index":29,"episode_name":"episode_0029"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0029.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_803/tex_ceiling_textures_441/tex_floor_textures_3866/tex_table_textures_3810/tex_wall_textures_5775","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":2491145008934078101,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":2491145008934078101,"visual_seed":2491145008934078101,"scene_id":"lab_003","finished_at":"2026-09-04T00:50:32"} +{"episode_id":"ep_000030","started_at":"2026-09-04T00:50:37","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_0","position":[0.16938731018001085,0.9334031521223771,0.71338606911949],"aabb_xy":[[0.134924962781869,0.8989092697245543],[0.2038496575781526,0.9678970345201997]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_1","position":[-0.11519948131639057,0.7737408937804839,0.71338606911949],"aabb_xy":[[-0.11864015755644775,0.7698794608061196],[-0.1117588050763334,0.7776023267548485]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_2","position":[0.06954794426503297,0.7298184836955626,0.71338606911949],"aabb_xy":[[0.044547944993070694,0.7134731200994001],[0.09454794353699525,0.7461638472917248]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_3","position":[-0.3721186829005023,-0.23830148184805022,0.71338606911949],"aabb_xy":[[-0.42974915178777306,-0.29830148077476076],[-0.3144882140132314,-0.1783014829213396]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_4","position":[0.04071574254026211,1.384037333933477,0.71338606911949],"aabb_xy":[[-0.02328425913773524,1.3355199424541626],[0.10471574421825947,1.432554725412791]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_5","position":[-0.61067671782869,0.18260141243981787,0.71338606911949],"aabb_xy":[[-0.6906767192588171,0.10308425742720839],[-0.5306767163985627,0.26211856745242734]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_6","position":[0.6123046233045883,0.8984469830319175,0.71338606911949],"aabb_xy":[[0.5623046237282536,0.8484664040798117],[0.6623046228809231,0.9484275619840236]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_7","position":[0.07881169249766673,-1.451717801446326,0.71338606911949],"aabb_xy":[[0.07347917784305376,-1.4570421296915617],[0.08414420715227973,-1.4463934732010906]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_8","position":[-0.45008442165543805,-1.6055612004191062,0.71338606911949],"aabb_xy":[[-0.48352459685145766,-1.639004826250036],[-0.41664424645941844,-1.572117574588176]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_9","position":[0.4595155591467843,-2.254830871297209,0.71338606911949],"aabb_xy":[[0.43593043568288947,-2.319830873542641],[0.4831006826106792,-2.1898308690517774]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_10","position":[-0.551310539598807,-0.22797310747235144,0.71338606911949],"aabb_xy":[[-0.5888105411144388,-0.23919988048849647],[-0.5138105380831753,-0.21674633445620636]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_11","position":[-0.27840650059033767,1.3643868247170294,0.71338606911949],"aabb_xy":[[-0.3283996126995296,1.3143868240428342],[-0.22841338848114584,1.4143868253912255]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_12","position":[0.34189307850896244,0.9326689507969887,0.71338606911949],"aabb_xy":[[0.25689308009153916,0.8477946553347038],[0.4268930769263856,1.0175432462592737]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_13","position":[-0.5477310859627169,1.3040974443184146,0.71338606911949],"aabb_xy":[[-0.559603168974218,1.2190974446247642],[-0.5358590029512158,1.389097444012065]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_14","position":[-0.152109315988864,-2.373323971081798,0.71338606911949],"aabb_xy":[[-0.20210414891680561,-2.4233239699770417],[-0.10211448306092241,-2.3233239721865546]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_15","position":[-0.1963069229822773,0.6396760087918492,0.71338606911949],"aabb_xy":[[-0.2563069234901302,0.5828292751059276],[-0.13630692247442436,0.6965227424777702]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_16","position":[0.574150297968608,-1.7236936190397403,0.71338606911949],"aabb_xy":[[0.5542592580882678,-1.7363494303244376],[0.5940413378489483,-1.7110378077550439]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_17","position":[0.3338336759411318,-2.408225005103737,0.71338606911949],"aabb_xy":[[0.31133367593098343,-2.42232122474334],[0.35633367595128,-2.3941287854641335]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_18","position":[0.2266565889105404,-1.8805367443790262,0.71338606911949],"aabb_xy":[[0.17677389203284424,-1.930536743625301],[0.27653928578823667,-1.8305367451327514]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_19","position":[-0.0889015910463331,-1.0672062689825539,0.71338606911949],"aabb_xy":[[-0.1089600026595734,-1.0872713558917115],[-0.06884317943309282,-1.0471411820733962]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_20","position":[0.42685965356705924,-1.8333916888257558,0.71338606911949],"aabb_xy":[[0.4227437034549866,-1.8375072438586013],[0.4309756036791319,-1.8292761337929102]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_21","position":[-0.44314161276297664,1.304705065576175,0.71338606911949],"aabb_xy":[[-0.458697382173242,1.2891546323317677],[-0.4275858433527115,1.3202554988205821]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_22","position":[0.24368290698041528,-1.4666827893478445,0.71338606911949],"aabb_xy":[[0.19368290561952808,-1.51666069392326],[0.2936829083413025,-1.4167048847724288]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6939023953813005,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5368.png","name":"5368"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5368.png","name":"5368"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7688.png","name":"7688"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6300.png","name":"6300"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4575.png","name":"4575"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8250.png","name":"8250"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":583.7198767984368,"rotation_z_degrees":247.53251550034202,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006560409802672383,0.015588841977827093,0.013178191135496623]},{"name":"camera_2","offset_m":[0.01192034236492973,-0.006746397097971597,-0.004583651352226124]},{"name":"camera_3","offset_m":[0.0043390666432539145,-0.00404518354283416,0.01729319201096507]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001282277524972082,-0.00017963121095808214,0.0017988621134828642],"end_effector_yaw_offset_degrees":-0.3842647648876114},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00039264270225003017,0.0001444765438044556,0.0007893820491496595],"end_effector_yaw_offset_degrees":0.4210429981820911},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014883244589633323,-0.0013865956164702173,-0.000693230111270151],"end_effector_yaw_offset_degrees":0.07191036120822147}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0005093268118489648,-0.0017223470611698699],"position_m":[0.278390673188151,-0.11942234706116987,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004768145413991088,0.0028338779096808648],"position_m":[0.22173185458600891,-0.40636612209031914,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0013051250873267793,0.00017413634522856023],"position_m":[0.3539051250873268,0.06617413634522856,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0018985769599160728,-0.0008157092729721574],"position_m":[0.3440985769599161,0.3230842907270279,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0f818236ab8b8e6044b0b7cdf349611f4a61538bc620c84ae884c3474dff7d85","episode_index":30,"episode_name":"episode_0030"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0030.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_5368/tex_ceiling_textures_8250/tex_floor_textures_4575/tex_table_textures_7688/tex_wall_textures_6300","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":3041205495053527480,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":3041205495053527480,"visual_seed":3041205495053527480,"scene_id":"lab_003","finished_at":"2026-09-04T00:53:34"} +{"episode_id":"ep_000031","started_at":"2026-09-04T00:53:39","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_0","position":[-0.3809798441258825,1.3438195533691548,0.71338606911949],"aabb_xy":[[-0.4349954404077825,1.2798195504768977],[-0.3269642478439825,1.407819556261412]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_1","position":[0.3530999871388274,-0.39392143995814877,0.71338606911949],"aabb_xy":[[0.34659835063082284,-0.4036892619844586],[0.35960162364683207,-0.38415361793183905]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_2","position":[0.2076006426519913,-1.0987926894792328,0.71338606911949],"aabb_xy":[[0.1436006406022593,-1.1388871725685408],[0.2716006447017233,-1.0586982063899248]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_3","position":[0.6887699808077332,-0.6689456244607093,0.71338606911949],"aabb_xy":[[0.6637699815357708,-0.6852909880568716],[0.7137699800796954,-0.6526002608645469]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_4","position":[0.27638772195440164,-2.508862143868731,0.71338606911949],"aabb_xy":[[0.21638772144654875,-2.5657088775546515],[0.33638772246225457,-2.4520154101828093]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_5","position":[0.007592159247083452,-2.5354902388272955,0.71338606911949],"aabb_xy":[[-0.04240784177205182,-2.571956454565124],[0.05759216026621873,-2.499024023089468]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_6","position":[-0.18920833923124303,-1.6176017501872857,0.71338606911949],"aabb_xy":[[-0.2043805085128764,-1.632770607115489],[-0.17403616994960971,-1.6024328932590823]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_7","position":[-0.14618507693285043,-1.82760912859534,0.71338606911949],"aabb_xy":[[-0.16134794990978754,-1.8427745858904592],[-0.13102220395591338,-1.8124436713002217]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_8","position":[0.6115200009901207,0.6975589084063132,0.71338606911949],"aabb_xy":[[0.5777444417994276,0.6835204131931482],[0.6452955601808136,0.7115974036194782]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_9","position":[-0.31072525651884925,-0.19481866329164665,0.71338606911949],"aabb_xy":[[-0.3222942372657858,-0.21981866340857836],[-0.29915627577191267,-0.16981866317471495]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_10","position":[-0.4647419785325482,-2.4662606383577486,0.71338606911949],"aabb_xy":[[-0.5147368114604898,-2.516260637252992],[-0.41474714560460657,-2.416260639462505]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_11","position":[0.5612419958879324,-2.163651298024514,0.71338606911949],"aabb_xy":[[0.5531143076946193,-2.172564906435222],[0.5693696840812458,-2.1547376896138064]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_12","position":[0.4790421944632406,0.5673739399196744,0.71338606911949],"aabb_xy":[[0.4415421929476088,0.5561471669035293],[0.5165421959788723,0.5786007129358194]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_13","position":[0.4999408500204072,0.9184763303016412,0.71338606911949],"aabb_xy":[[0.46244085144478636,0.9057400346380833],[0.5374408485960279,0.9312126259651992]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_14","position":[-0.4993461580732221,0.2119847405832207,0.71338606911949],"aabb_xy":[[-0.5793461566605416,0.1326691386450598],[-0.41934615948590265,0.2913003425213816]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_15","position":[0.264181079771036,-1.630236249669072,0.71338606911949],"aabb_xy":[[0.24668107951169943,-1.6443277918578452],[0.2816810800303727,-1.6161447074803]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_16","position":[-0.010344628643287113,0.9717685012562414,0.71338606911949],"aabb_xy":[[-0.060317694175802586,0.9217685014437086],[0.039628436889228354,1.0217685010687743]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_17","position":[-0.3450773580245088,-0.7647236212714126,0.71338606911949],"aabb_xy":[[-0.4000728358451681,-0.8197236227053195],[-0.29008188020384934,-0.7097236198375056]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_18","position":[0.49554982609343634,0.07361056119217269,0.71338606911949],"aabb_xy":[[0.4779169904999087,0.0559876151765497],[0.5131826616869638,0.09123350720779565]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_19","position":[-0.07827688400629551,-1.2651376880085223,0.71338606911949],"aabb_xy":[[-0.08437151189441383,-1.273707082560191],[-0.07218225611817719,-1.2565682934568536]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_20","position":[0.6625839674487366,-1.4615172519117732,0.71338606911949],"aabb_xy":[[0.6025839668527203,-1.5163297244569967],[0.7225839680447527,-1.4067047793665497]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_21","position":[-0.618561409704338,1.1886470503245596,0.71338606911949],"aabb_xy":[[-0.6560614081277384,1.1754828363567287],[-0.5810614112809377,1.2018112642923902]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_22","position":[-0.3764351985805073,-2.065254236933675,0.71338606911949],"aabb_xy":[[-0.3843584788192556,-2.087754237171678],[-0.36851191834175895,-2.0427542366956715]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6893552600386218,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/277.png","name":"277"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/277.png","name":"277"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8225.png","name":"8225"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8094.png","name":"8094"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/192.png","name":"192"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7908.png","name":"7908"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":591.6670804108377,"rotation_z_degrees":244.075539708789,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018742032319646933,0.0015965505699747154,-0.0030419994574703672]},{"name":"camera_2","offset_m":[0.00014360750238103653,-0.007914172445274245,0.0036177176517990586]},{"name":"camera_3","offset_m":[0.0025798299535355618,0.019270538486232728,-0.01657473938649194]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.000411956275374277,0.0014256614082768224,0.001248292524146993],"end_effector_yaw_offset_degrees":0.23929236499801698},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005030282806098973,0.0005040037386415202,0.0014559030221416025],"end_effector_yaw_offset_degrees":-0.9554894469231916},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0002011620150001031,-0.0017576511248056934,0.0014122553752364793],"end_effector_yaw_offset_degrees":-0.8108437701800357}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0025186831334165806,0.0029591067497674465],"position_m":[0.2763813168665834,-0.11474089325023255,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002209574833079545,-0.0008381233506191531],"position_m":[0.22870957483307955,-0.4100381233506192,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004057558555197253,-0.0028130304273214523],"position_m":[0.35665755855519726,0.06318696957267855,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002782682045107343,-0.001687036196704276],"position_m":[0.33941731795489266,0.3222129638032957,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ad84bb294d5d26047cef09bab621870678a4ed9f273286a94c4649e873fc0a3c","episode_index":31,"episode_name":"episode_0031"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0031.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_277/tex_ceiling_textures_7908/tex_floor_textures_192/tex_table_textures_8225/tex_wall_textures_8094","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":523385932062072833,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":523385932062072833,"visual_seed":523385932062072833,"scene_id":"lab_003","finished_at":"2026-09-04T00:56:23"} +{"episode_id":"ep_000032","started_at":"2026-09-04T00:56:26","dimensions":{"distractor":{"count":30,"items":[{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_0","position":[-0.37783937862262296,0.8735657008958202,0.71338606911949],"aabb_xy":[[-0.4003385143488499,0.8510657001175571],[-0.355340242896396,0.8960657016740831]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_1","position":[-0.06787854122209869,-1.607399657364851,0.71338606911949],"aabb_xy":[[-0.11787355218155073,-1.6573996564004432],[-0.017883530262646653,-1.5573996583292598]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_2","position":[-0.26378408720715313,-0.927455612960467,0.71338606911949],"aabb_xy":[[-0.273540076716327,-0.9372181470197013],[-0.25402809769797924,-0.9176930789012324]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_3","position":[0.11234052016306562,-1.1238651077571686,0.71338606911949],"aabb_xy":[[0.04834052373574371,-1.171034731579265],[0.17634051659038752,-1.0766954839350722]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_4","position":[0.2864860564768076,-1.9828591229698707,0.71338606911949],"aabb_xy":[[0.24131473862863867,-2.0468591201144095],[0.3316573743249766,-1.9188591258253325]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_5","position":[0.6748101956497767,0.13893111970144956,0.71338606911949],"aabb_xy":[[0.6589257023844515,0.1245781794026255],[0.6906946889151018,0.15328406000027361]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_6","position":[0.21122016611466665,1.6259800482181954,0.71338606911949],"aabb_xy":[[0.2071420082076169,1.621899067969932],[0.2152983240217164,1.6300610284664587]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_7","position":[-0.5658737669845428,-1.7169458454024358,0.71338606911949],"aabb_xy":[[-0.5745717292752581,-1.7290708197099107],[-0.5571758046938275,-1.7048208710949613]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_8","position":[0.2257503583386099,-0.7665112320894456,0.71338606911949],"aabb_xy":[[0.14575036093501648,-0.8465038032876283],[0.30575035574220333,-0.6865186608912627]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_9","position":[0.596234471154782,-0.9039424566898138,0.71338606911949],"aabb_xy":[[0.5587344712110156,-0.9122355467246505],[0.6337344710985484,-0.8956493666549773]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_10","position":[-0.5824261036572135,1.2606977552416927,0.71338606911949],"aabb_xy":[[-0.6102711404378206,1.229913256503381],[-0.5545810668766064,1.2914822539800044]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_11","position":[0.5572298374793401,1.1326097142539235,0.71338606911949],"aabb_xy":[[0.5094236698655714,1.0676097115468646],[0.6050360050931087,1.1976097169609825]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_12","position":[-0.4457178096580719,-1.912160967819308,0.71338606911949],"aabb_xy":[[-0.49571264258601344,-1.9621609667145516],[-0.39572297673013024,-1.8621609689240646]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_13","position":[-0.1177279361860275,-1.2340570460165114,0.71338606911949],"aabb_xy":[[-0.12257153094725749,-1.2389086984954956],[-0.11288434142479754,-1.2292053935375273]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_14","position":[-0.39929762630936944,0.08204121244377882,0.71338606911949],"aabb_xy":[[-0.43679762488499024,0.06930491678022088],[-0.36179762773374863,0.09477750810733676]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_15","position":[-0.39178200104662136,-1.6543044329190697,0.71338606911949],"aabb_xy":[[-0.4026877771341841,-1.7343044293178986],[-0.38087622495905865,-1.5743044365202403]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_16","position":[0.12257850172169704,0.9831892661149633,0.71338606911949],"aabb_xy":[[0.10011373175029192,0.9606892652361028],[0.14504327169310216,1.0056892669938238]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_17","position":[0.4807575981157646,1.476686164033881,0.71338606911949],"aabb_xy":[[0.4167575964377672,1.4281687725545666],[0.5447575997937619,1.525203555513195]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_18","position":[0.38112487811300144,1.1605944276251385,0.71338606911949],"aabb_xy":[[0.3634920425194738,1.1429714816095156],[0.39875771370652896,1.1782173736407615]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_19","position":[0.15913998823473186,1.7938847327191003,0.71338606911949],"aabb_xy":[[0.10913998728419902,1.7623355857155787],[0.20913998918526464,1.8254338797226215]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_20","position":[-0.6503985056593964,-1.4690574823388387,0.71338606911949],"aabb_xy":[[-0.6742347233000014,-1.5590574831473252],[-0.6265622880187913,-1.379057481530352]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_21","position":[-0.24246428529535313,1.247013010771215,0.71338606911949],"aabb_xy":[[-0.25049055592597913,1.2382615157938626],[-0.23443801466472713,1.2557645057485678]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_22","position":[0.42124403847603564,-0.4840841872224946,0.71338606911949],"aabb_xy":[[0.4133207582372873,-0.5065841874604979],[0.429167318714784,-0.46158418698449116]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_23","position":[-0.6330108226995218,-1.0699638064204164,0.71338606911949],"aabb_xy":[[-0.6674731700976634,-1.1044576888182387],[-0.5985484753013798,-1.0354699240225933]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_24","position":[0.26423993885683517,0.6301482597208534,0.71338606911949],"aabb_xy":[[0.26032606566141264,0.6213992443142965],[0.2681538120522577,0.6388972751274101]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_25","position":[0.6943722864025144,-1.6021600742187723,0.71338606911949],"aabb_xy":[[0.6769415713235076,-1.6194321888826229],[0.7118030014815206,-1.5848879595549212]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_26","position":[0.46053325651266475,0.23449000278459486,0.71338606911949],"aabb_xy":[[0.4531208009712762,0.22863879236296691],[0.46794571205405316,0.24034121320622281]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_27","position":[-0.2620500299926394,0.8824308594823158,0.71338606911949],"aabb_xy":[[-0.3120500313535266,0.8324529549069002],[-0.21205002863175218,0.9324087640577314]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_28","position":[-0.016588603638285737,-2.024945234099239,0.71338606911949],"aabb_xy":[[-0.09658860471140607,-2.0347232804366238],[0.0634113974348346,-2.015167187761855]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_29","position":[0.554767155012726,-1.351163319689843,0.71338606911949],"aabb_xy":[[0.5334891468692537,-1.4161633220159158],[0.5760451631561982,-1.2861633173637697]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6885746972142482,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6833.png","name":"6833"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6833.png","name":"6833"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6745.png","name":"6745"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7019.png","name":"7019"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7418.png","name":"7418"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7079.png","name":"7079"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":668.8738203093407,"rotation_z_degrees":144.29880579663447,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005757285535770399,0.001738383473636508,-0.009215683429516633]},{"name":"camera_2","offset_m":[0.019481825849701668,-0.0008419539539553447,-0.01916359949838919]},{"name":"camera_3","offset_m":[-0.0010148466927693174,0.017458623516430998,-0.018981658841103075]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0001906701307450799,0.0013710369226294311,-0.00020486517481346756],"end_effector_yaw_offset_degrees":0.16051012374133045},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014353681665770805,0.00089932322146534,-0.0017108386172717607],"end_effector_yaw_offset_degrees":0.2722142758910522},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005570777133385926,-0.0005706879291714261,0.00041406959599109196],"end_effector_yaw_offset_degrees":-0.9667270319222274}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0034458927728551704,-0.003911324049263027],"position_m":[0.2754541072271448,-0.12161132404926303,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003714545723057312,-0.003658520899015496],"position_m":[0.22278545427694268,-0.4128585208990155,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0028419996116405754,-0.0032884275210198774],"position_m":[0.34975800038835947,0.06271157247898013,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002663605439246719,-0.003586896505404994],"position_m":[0.3395363945607533,0.320313103494595,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"52c568b45f6b692efb5c2ad724622bdfd296c4c15324ea58202ab89944034357","episode_index":32,"episode_name":"episode_0032"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0032.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_6833/tex_ceiling_textures_7079/tex_floor_textures_7418/tex_table_textures_6745/tex_wall_textures_7019","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":8761834213875987337,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":8761834213875987337,"visual_seed":8761834213875987337,"scene_id":"lab_003","finished_at":"2026-09-04T00:59:06"} +{"episode_id":"ep_000033","started_at":"2026-09-04T00:59:10","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_0","position":[0.21314092479921276,-2.218394145815857,0.71338606911949],"aabb_xy":[[0.18314926206534243,-2.2483941451526577],[0.2431325875330831,-2.1883941464790566]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_1","position":[0.48075513448645624,0.8387670859413361,0.71338606911949],"aabb_xy":[[0.4699035282375807,0.8279077952136851],[0.4916067407353319,0.8496263766689871]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_2","position":[0.4794627250744785,0.34553912382326013,0.71338606911949],"aabb_xy":[[0.3944627266570553,0.2606648283609752],[0.5644627234919017,0.43041341928554516]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_3","position":[-0.6065065691372592,1.2940687976139693,0.71338606911949],"aabb_xy":[[-0.6565065704210991,1.2440899432233468],[-0.5565065678534191,1.344047652004591]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_4","position":[-0.05128728315989595,0.453072865561277,0.71338606911949],"aabb_xy":[[-0.08574976117298372,0.44640918837835414],[-0.016824805146808168,0.4597365427441998]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_5","position":[0.08208232244600555,-1.4072086619489201,0.71338606911949],"aabb_xy":[[0.06885137691132424,-1.4204360809709196],[0.09531326798068683,-1.3939812429269207]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_6","position":[-0.5704254621028583,-0.2402556663484492,0.71338606911949],"aabb_xy":[[-0.6254209399235175,-0.2952556677823561],[-0.5154299842821988,-0.18525566491454226]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_7","position":[-0.5090717887826216,1.451697983977542,0.71338606911949],"aabb_xy":[[-0.5440717886786405,1.4433237484656016],[-0.4740717888866028,1.4600722194894817]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_8","position":[-0.16504152928630667,-1.158883869203099,0.71338606911949],"aabb_xy":[[-0.22504152979415956,-1.2157306028890205],[-0.10504152877845373,-1.1020371355171779]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_9","position":[-0.43748931174241573,-1.7117469788432103,0.71338606911949],"aabb_xy":[[-0.47398513236969436,-1.7482309212699678],[-0.4009934911151369,-1.6752630364164527]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_10","position":[-0.2658350677503021,-0.20738241252619805,0.71338606911949],"aabb_xy":[[-0.2767408438378648,-0.2873824089250272],[-0.25492929166273937,-0.12738241612736886]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_11","position":[-0.47361662515221337,-0.11514821591074442,0.71338606911949],"aabb_xy":[[-0.47992872468855186,-0.12091515516396327],[-0.467304525615875,-0.1093812766575256]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_12","position":[-0.5890272733929345,-2.2964300301145695,0.71338606911949],"aabb_xy":[[-0.6041901463698717,-2.3115954874096887],[-0.5738644004159975,-2.281264572819451]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_13","position":[-0.01741011661077496,-2.1404793486809592,0.71338606911949],"aabb_xy":[[-0.05241011574073062,-2.146224569756623],[0.0175898825191807,-2.1347341276052947]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_14","position":[-0.07674268145132968,-1.9160476182218384,0.71338606911949],"aabb_xy":[[-0.12671574698384516,-1.9660476180343716],[-0.026769615918814223,-1.8660476184093058]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_15","position":[0.060445099498667276,1.5463984250147393,0.71338606911949],"aabb_xy":[[0.035445100226704995,1.5300530614185768],[0.08544509877062956,1.5627437886109015]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_16","position":[0.5574732732627703,1.3233779272833166,0.71338606911949],"aabb_xy":[[0.46778619695465484,1.233377927028866],[0.6471603495708858,1.4133779275377671]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_17","position":[0.6220693951293088,-2.472268275257802,0.71338606911949],"aabb_xy":[[0.5580693927865071,-2.517209126501934],[0.6860693974721103,-2.427327424013669]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_18","position":[-0.1950577193855747,1.7608015885085915,0.71338606911949],"aabb_xy":[[-0.21255771851994185,1.7509219614710032],[-0.1775577202512075,1.7706812155461789]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_19","position":[0.03518422753836237,-1.068228110290589,0.71338606911949],"aabb_xy":[[0.001744052342342761,-1.1016717361215187],[0.06862440273438196,-1.0347844844596585]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_20","position":[-0.4432766932134031,-0.8076544442501852,0.71338606911949],"aabb_xy":[[-0.4621610769819133,-0.826540369030538],[-0.42439230944489287,-0.7887685194698324]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_21","position":[0.5859647571988937,1.060398671605697,0.71338606911949],"aabb_xy":[[0.5359818070114143,1.0103986719631364],[0.635947707386373,1.1103986712482572]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_22","position":[-0.21663997660356055,1.4406917592011648,0.71338606911949],"aabb_xy":[[-0.239139976847076,1.4284871245413928],[-0.1941399763600452,1.4528963938609367]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_23","position":[0.4539711592078053,-0.31286466186437245,0.71338606911949],"aabb_xy":[[0.4364711589484687,-0.3269562040531451],[0.47147115946714196,-0.2987731196755999]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_24","position":[-0.1988421362077688,1.014126923415521,0.71338606911949],"aabb_xy":[[-0.278842137637896,0.9346097684029115],[-0.11884213477764158,1.0936440784281305]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6916106000824106,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9520.png","name":"9520"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9520.png","name":"9520"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8031.png","name":"8031"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4264.png","name":"4264"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6585.png","name":"6585"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3492.png","name":"3492"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":548.79843437782,"rotation_z_degrees":115.08524972508073,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0070663616151165135,-0.007747111130524868,0.01031567985263731]},{"name":"camera_2","offset_m":[-0.003034887362236803,-0.014343641727295853,0.009243834742613397]},{"name":"camera_3","offset_m":[0.014405377602972957,0.0022158077720079196,-0.00019710878360336762]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014587016144645482,-0.0007646362119274799,-1.9742332706593722e-06],"end_effector_yaw_offset_degrees":-0.13097839467535244},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013447899657403149,0.0015545468392392783,0.0016444941478009666],"end_effector_yaw_offset_degrees":0.8818390285954396},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0004729217833186459,0.0010542197838778488,0.0019290592818214866],"end_effector_yaw_offset_degrees":0.6102479029930117}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002411282096477306,-8.071152212320992e-07],"position_m":[0.28131128209647727,-0.11770080711522123,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002018182778097526,0.0025516805901956057],"position_m":[0.22448181722190247,-0.4066483194098044,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002128241567632018,0.0009688698867362268],"position_m":[0.35472824156763205,0.06696886988673623,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0003937867288008809,-0.0013812153979698128],"position_m":[0.34180621327119914,0.3225187846020302,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f413b6b3abfd6b4f37d7f485c367b630d43a6219993034f06594a628af4f06e2","episode_index":33,"episode_name":"episode_0033"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0033.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_9520/tex_ceiling_textures_3492/tex_floor_textures_6585/tex_table_textures_8031/tex_wall_textures_4264","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":578285516243874995,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":578285516243874995,"visual_seed":578285516243874995,"scene_id":"lab_003","finished_at":"2026-09-04T01:01:58"} +{"episode_id":"ep_000034","started_at":"2026-09-04T01:02:01","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_0","position":[0.5225032156103666,-1.189281285109743,0.71338606911949],"aabb_xy":[[0.5003306886337158,-1.2114569522658662],[0.5446757425870175,-1.1671056179536197]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_1","position":[-0.5901665509352664,-1.9583665901249612,0.71338606911949],"aabb_xy":[[-0.6151665501008996,-1.9653188358303177],[-0.5651665517696334,-1.9514143444196046]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_2","position":[0.009630257486465621,-1.9089541287507854,0.71338606911949],"aabb_xy":[[-0.07036974117042039,-1.923458987675048],[0.08963025614335163,-1.8944492698265227]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_3","position":[0.6805641849254362,1.2855544167040285,0.71338606911949],"aabb_xy":[[0.6726409046866879,1.2630544164660251],[0.6884874651641846,1.3080544169420318]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_4","position":[0.5650267527041026,1.3715965253546738,0.71338606911949],"aabb_xy":[[0.5285309320768238,1.3351125829279162],[0.6015225733313813,1.4080804677814314]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_5","position":[0.23961499933402353,1.601194850668541,0.71338606911949],"aabb_xy":[[0.22920344065353981,1.5958491173326423],[0.25002655801450724,1.606540584004439]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_6","position":[-0.06664358117859148,1.274511717051292,0.71338606911949],"aabb_xy":[[-0.08097800630475493,1.2624515014967534],[-0.05230915605242803,1.2865719326058311]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_7","position":[0.5164690042571249,-1.5572458687929935,0.71338606911949],"aabb_xy":[[0.43646900709754954,-1.5687934697508104],[0.5964690014167001,-1.5456982678351763]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_8","position":[0.71395754379479,-2.098647379647317,0.71338606911949],"aabb_xy":[[0.705931273164164,-2.1073988746246695],[0.721983814425416,-2.0898958846699642]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_9","position":[0.28288901790755583,-1.8721010424000053,0.71338606911949],"aabb_xy":[[0.19288901818438162,-1.895174394935185],[0.37288901763072996,-1.8490276898648252]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_10","position":[-0.5079433383336127,-1.096933226454748,0.71338606911949],"aabb_xy":[[-0.5454433382773791,-1.1052263164895846],[-0.4704433383898463,-1.0886401364199114]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_11","position":[-0.14584245795869422,-0.3997358396629047,0.71338606911949],"aabb_xy":[[-0.21084245611461325,-0.4260320842128169],[-0.08084245980277513,-0.3734395951129925]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_12","position":[-0.051395913866404075,0.3167692031331302,0.71338606911949],"aabb_xy":[[-0.06264096943702191,0.3055274054090349],[-0.04015085829578624,0.32801100085722545]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_13","position":[-0.09734238451559074,1.512283797261095,0.71338606911949],"aabb_xy":[[-0.12234238406732921,1.50214131339596],[-0.07234238496385224,1.5224262811262295]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_14","position":[0.23281195497231277,-1.0649083892101894,0.71338606911949],"aabb_xy":[[0.14781195628023816,-1.0968942526050682],[0.3178119536643874,-1.0329225258153105]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_15","position":[0.6249896508484323,-2.069496539055632,0.71338606911949],"aabb_xy":[[0.594997988114562,-2.0994965383924327],[0.6549813135823026,-2.0394965397188316]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_16","position":[0.508906067299433,-2.167075345767631,0.71338606911949],"aabb_xy":[[0.5002081050087177,-2.179200320075106],[0.5176040295901483,-2.1549503714601563]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_17","position":[-0.4526959967074762,0.42615421607135584,0.71338606911949],"aabb_xy":[[-0.4697060939975268,0.4100197275730819],[-0.43568589941742547,0.44228870456962976]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_18","position":[-0.5978570403285641,-0.07359123070713558,0.71338606911949],"aabb_xy":[[-0.6578570408364169,-0.13043796439305685],[-0.5378570398207111,-0.016744497021214274]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_19","position":[-0.4636344402907534,-1.375634172831446,0.71338606911949],"aabb_xy":[[-0.4700482539339383,-1.3820439930791142],[-0.4572206266475684,-1.3692243525837775]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_20","position":[0.1527434332834532,0.8946327616816241,0.71338606911949],"aabb_xy":[[0.1418918270345776,0.8837734709539731],[0.1635950395323288,0.9054920524092751]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_21","position":[-0.5468056071979908,-1.345123599566269,0.71338606911949],"aabb_xy":[[-0.56430560744304,-1.3626233874058358],[-0.5293056069529413,-1.327623811726702]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_22","position":[0.5769168208871174,0.6961489595923074,0.71338606911949],"aabb_xy":[[0.5672851846666878,0.6865116468125985],[0.586548457107547,0.7057862723720163]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6977920584910935,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2151.png","name":"2151"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2151.png","name":"2151"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9814.png","name":"9814"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6530.png","name":"6530"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7180.png","name":"7180"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6293.png","name":"6293"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":829.7218819240964,"rotation_z_degrees":26.20931140674095,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018044861206377116,0.0076513553889808045,-0.0003353769893593532]},{"name":"camera_2","offset_m":[0.00991919979168682,0.006939016140494792,-0.01629324669490163]},{"name":"camera_3","offset_m":[-0.01942918519475929,0.016086341726427412,-0.0033384292236849876]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001846216369066842,0.00039450970858800286,-0.00034417597697648534],"end_effector_yaw_offset_degrees":0.748503117836498},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006617304270139233,0.000284909649951716,-0.0005816497395739661],"end_effector_yaw_offset_degrees":-0.24233416434855504},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00044156091590869624,0.0015133257181229975,0.0013728861903774827],"end_effector_yaw_offset_degrees":0.7604599278811817}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0013496583258362093,0.003969080875476999],"position_m":[0.27755034167416376,-0.113730919124523,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00036186395139191103,-0.000899243346632099],"position_m":[0.2261381360486081,-0.4100992433466321,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0026337518012417493,3.747666764047225e-05],"position_m":[0.34996624819875827,0.06603747666764048,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0037411355242962007,0.004018070934822091],"position_m":[0.34594113552429623,0.3279180709348221,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"14bf24ed04852337c9ce644cd8d27a289aa8b1f0861b6ceb9af840dbceda96ac","episode_index":34,"episode_name":"episode_0034"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0034.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_2151/tex_ceiling_textures_6293/tex_floor_textures_7180/tex_table_textures_9814/tex_wall_textures_6530","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":4447568201485379913,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":4447568201485379913,"visual_seed":4447568201485379913,"scene_id":"lab_003","finished_at":"2026-09-04T01:04:47"} +{"episode_id":"ep_000035","started_at":"2026-09-04T01:04:50","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_0","position":[-0.30841951860085226,0.636446301296365,0.71338606911949],"aabb_xy":[[-0.318831077281336,0.6311005679604665],[-0.29800795992036855,0.6417920346322635]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_1","position":[0.14500892697004286,1.3930160677399686,0.71338606911949],"aabb_xy":[[0.08341816774605007,1.3290160696309217],[0.2065996861940357,1.4570160658490154]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_2","position":[-0.168960324905728,-1.2396198197966164,0.71338606911949],"aabb_xy":[[-0.19524914922616865,-1.2658912534512674],[-0.14267150058528733,-1.213348386141965]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_3","position":[0.6358415089180038,-1.388185390685641,0.71338606911949],"aabb_xy":[[0.6145635007745315,-1.453185393011714],[0.657119517061476,-1.323185388359568]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_4","position":[-0.4348477805622781,0.565240484039021,0.71338606911949],"aabb_xy":[[-0.4466159673569357,0.4802404841337996],[-0.42307959376762067,0.6502404839442427]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_5","position":[-0.40965123415099625,0.8010646201494049,0.71338606911949],"aabb_xy":[[-0.4176452227286996,0.7930645400543145],[-0.4016572455732928,0.8090647002444952]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_6","position":[-0.4842375729425816,-1.0939742799670757,0.71338606911949],"aabb_xy":[[-0.5080737905831868,-1.1839742807755624],[-0.4604013553019766,-1.0039742791585895]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_7","position":[0.5591137424384149,-2.3471254944864315,0.71338606911949],"aabb_xy":[[0.5551532586686806,-2.3547933590719525],[0.5630742262081493,-2.3394576299009113]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_8","position":[0.39820824719098047,-1.8134726640301986,0.71338606911949],"aabb_xy":[[0.34823518165846507,-1.863472663842732],[0.44818131272349604,-1.7634726642176661]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_9","position":[0.12528032923169807,-2.184079292904894,0.71338606911949],"aabb_xy":[[0.1178678736903096,-2.189930503326522],[0.13269278477308655,-2.1782280824832663]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_10","position":[-0.6402426366551852,1.3185074762569498,0.71338606911949],"aabb_xy":[[-0.6482689072858112,1.3097559812795974],[-0.6322163660245592,1.3272589712343026]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_11","position":[-0.37829844781802063,1.4057072365379542,0.71338606911949],"aabb_xy":[[-0.39076580592775634,1.3932419119046309],[-0.36583108970828504,1.4181725611712779]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_12","position":[0.631642238672657,-0.437067869471913,0.71338606911949],"aabb_xy":[[0.5863636237915077,-0.5010678688200967],[0.6769208535538063,-0.3730678701237293]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_13","position":[-0.029501946230780507,-1.9704216631950244,0.71338606911949],"aabb_xy":[[-0.07467326407894949,-2.034421660339563],[0.015669371617388468,-1.9064216660504865]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_14","position":[-0.42741119465698213,-1.6380222291864306,0.71338606911949],"aabb_xy":[[-0.4448419097359886,-1.6552943438502812],[-0.40998047957797557,-1.6207501145225796]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_15","position":[-0.45862374444805054,-0.1650230185893573,0.71338606911949],"aabb_xy":[[-0.48112374397175794,-0.18751896603997806],[-0.43612374492434314,-0.1425270711387365]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_16","position":[0.2388061545986444,1.5645837742918993,0.71338606911949],"aabb_xy":[[0.2168974724592933,1.5426831074718084],[0.2607148367379954,1.5864844411119898]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_17","position":[0.7081603289685685,0.23709961135111124,0.71338606911949],"aabb_xy":[[0.7001668391732865,0.2291014794106356],[0.7161538187638505,0.24509774329158693]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_18","position":[0.396471122192134,-2.270373961814387,0.71338606911949],"aabb_xy":[[0.3851093875388478,-2.281742428220675],[0.40783285684542014,-2.2590054954080983]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_19","position":[0.4266002641951212,0.881271441334849,0.71338606911949],"aabb_xy":[[0.346606440616563,0.8012714387420075],[0.5065940877736794,0.9612714439276906]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_20","position":[0.3517388094942291,-2.1574374195759187,0.71338606911949],"aabb_xy":[[0.31727633148114126,-2.1641010967588414],[0.3862012875073168,-2.150773742392996]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_21","position":[0.19334998019200933,-1.3387362186701264,0.71338606911949],"aabb_xy":[[0.13571951130473842,-1.3987362175968368],[0.2509804490792801,-1.2787362197434156]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_22","position":[-0.3815019255905687,1.5685468490670096,0.71338606911949],"aabb_xy":[[-0.431484875778048,1.518546849424449],[-0.33151897540308933,1.6185468487095698]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_23","position":[0.41421301826490753,-0.5506480851463067,0.71338606911949],"aabb_xy":[[0.33421301683478033,-0.6301652401589162],[0.4942130196950347,-0.4711309301336972]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_24","position":[0.3834663830393277,1.770195921783087,0.71338606911949],"aabb_xy":[[0.3584663838736945,1.7632436760777306],[0.40846638220496073,1.7771481674884437]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_25","position":[-0.03134862309689612,-1.3100453114912702,0.71338606911949],"aabb_xy":[[-0.03947631129020934,-1.318958919901978],[-0.0232209349035829,-1.3011317030805625]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_26","position":[0.34844269662078164,0.6470751715763927,0.71338606911949],"aabb_xy":[[0.3421305970844432,0.6413082323231739],[0.3547547961571201,0.6528421108296115]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_27","position":[0.1472673810455366,-1.5048782110686754,0.71338606911949],"aabb_xy":[[0.0972673800950038,-1.5364273580721965],[0.1972673819960694,-1.4733290640651537]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.690920571495328,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7738.png","name":"7738"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7738.png","name":"7738"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1350.png","name":"1350"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8150.png","name":"8150"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9733.png","name":"9733"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/821.png","name":"821"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":721.2096400689995,"rotation_z_degrees":356.2535413054681,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019424500951094763,0.0024172677769327237,0.01056752123918982]},{"name":"camera_2","offset_m":[0.018598208961480036,-0.008034566753359437,0.011455737252638789]},{"name":"camera_3","offset_m":[-0.017852246288089603,0.0009553778609423802,0.011411909245581959]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012970301831575345,-0.001321245088779318,-0.0004706330182052726],"end_effector_yaw_offset_degrees":0.9283215622733101},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007297673159996272,0.0011313947574512965,0.00017037390609494574],"end_effector_yaw_offset_degrees":-0.7401901176367753},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008957356483271911,-0.001345071461927581,-0.0011394607742624206],"end_effector_yaw_offset_degrees":-0.1351338137595841}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0030949769992542997,0.00297827924939426],"position_m":[0.27580502300074566,-0.11472172075060574,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00355968995060358,-9.345292222543138e-05],"position_m":[0.22294031004939643,-0.40929345292222546,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0009163037948861467,-0.0007138342012433067],"position_m":[0.3535163037948862,0.06528616579875669,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001302611996110281,-0.001137541933669549],"position_m":[0.34089738800388975,0.32276245806633047,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"215e67b9e767b5a253055e43aae66fe07bcdfbbe8b771e30a03d8cb8e933a084","episode_index":35,"episode_name":"episode_0035"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0035.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_7738/tex_ceiling_textures_821/tex_floor_textures_9733/tex_table_textures_1350/tex_wall_textures_8150","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":1155904717446939490,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":1155904717446939490,"visual_seed":1155904717446939490,"scene_id":"lab_003","finished_at":"2026-09-04T01:07:38"} +{"episode_id":"ep_000036","started_at":"2026-09-04T01:07:41","dimensions":{"distractor":{"count":25,"items":[{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_0","position":[0.044433055335649674,-2.5335582483814454,0.71338606911949],"aabb_xy":[[-0.0355669416785983,-2.553692800054857],[0.12443305234989765,-2.513423696708034]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_1","position":[-0.1493161013548241,1.1506725344285749,0.71338606911949],"aabb_xy":[[-0.1565984177314877,1.0606725308190654],[-0.14203378497816038,1.2406725380380834]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_2","position":[0.641664781553537,-0.6040327470841231,0.71338606911949],"aabb_xy":[[0.6328835544063008,-0.6128124943726534],[0.6504460087007734,-0.5952529997955931]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_3","position":[0.350954380858818,-1.5083927237557833,0.71338606911949],"aabb_xy":[[0.30095437949793075,-1.5583706283311989],[0.4009543822197052,-1.4584148191803676]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_4","position":[0.4355782441546754,-0.7632349913433771,0.71338606911949],"aabb_xy":[[0.42961170521393954,-0.7691961360027412],[0.4415447830954111,-0.7572738466840131]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_5","position":[-0.6217343313279899,-0.19392683799122157,0.71338606911949],"aabb_xy":[[-0.6408466386859687,-0.21306161686846362],[-0.602622023970011,-0.17479205911397958]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_6","position":[-0.5137534774695715,1.7073177371077954,0.71338606911949],"aabb_xy":[[-0.523385113690001,1.6976804243280865],[-0.5041218412491417,1.7169550498875044]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_7","position":[-0.5727086643881265,-2.5006228851540766,0.71338606911949],"aabb_xy":[[-0.6227079395565627,-2.550622886430024],[-0.5227093892196903,-2.45062288387813]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_8","position":[-0.510174833199781,0.3703690986988435,0.71338606911949],"aabb_xy":[[-0.5347210488225316,0.3401202021498064],[-0.4856286175770302,0.40061799524788055]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_9","position":[0.1864128170658469,1.435373718002673,0.71338606911949],"aabb_xy":[[0.14516400603593213,1.3803737184904556],[0.2276616280957616,1.4903737175148906]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_10","position":[0.1926193411932432,-0.8939641814661268,0.71338606911949],"aabb_xy":[[0.14263639100576386,-0.9439641811086871],[0.24260229138072253,-0.8439641818235663]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_11","position":[-0.47391714976549587,-0.03493710407366013,0.71338606911949],"aabb_xy":[[-0.48196050969145104,-0.11993710516902656],[-0.4658737898395407,0.050062897021706305]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_12","position":[-0.1657404699544719,1.596898624230589,0.71338606911949],"aabb_xy":[[-0.18824046996462016,1.5828024045909856],[-0.14324046994432357,1.6109948438701922]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_13","position":[0.04316069627447694,1.390069573760667,0.71338606911949],"aabb_xy":[[-0.011964509355113838,1.3300695723193794],[0.0982859019040677,1.4500695752019537]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_14","position":[-0.24570703950856176,-1.4562743262337032,0.71338606911949],"aabb_xy":[[-0.2632537344246807,-1.4937743277979545],[-0.22816034459244283,-1.418774324669452]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_15","position":[0.27548666880238926,-1.2348189577210744,0.71338606911949],"aabb_xy":[[0.2504866692506508,-1.2449614415862091],[0.30048666835412774,-1.2246764738559397]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_16","position":[0.6522650341755794,1.1071535965485038,0.71338606911949],"aabb_xy":[[0.644341753936831,1.0846535963105004],[0.6601883144143277,1.1296535967865071]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_17","position":[-0.6171899715062102,-1.6163507987467,0.71338606911949],"aabb_xy":[[-0.6252162421368364,-1.625102293724053],[-0.6091637008755844,-1.6075993037693477]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_18","position":[0.23192101737768578,-1.6407645739635417,0.71338606911949],"aabb_xy":[[0.194421017085511,-1.6448060493641452],[0.2694210176698606,-1.6367230985629382]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_19","position":[0.6436547563404937,-1.258127041595146,0.71338606911949],"aabb_xy":[[0.6362423007991053,-1.263978252016774],[0.6510672118818822,-1.252275831173518]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_20","position":[0.5311180970821652,-0.22823384276662528,0.71338606911949],"aabb_xy":[[0.4511180991013802,-0.23583538372847723],[0.6111180950629502,-0.22063230180477333]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_21","position":[-0.30680874501093763,1.6758681105217321,0.71338606911949],"aabb_xy":[[-0.37080874830064575,1.6325331915178145],[-0.24280874172122954,1.7192030295256497]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_22","position":[0.0627377189781092,-1.500338326923286,0.71338606911949],"aabb_xy":[[-0.0012622781339964861,-1.5493706967176966],[0.1267377160902149,-1.4513059571288753]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_23","position":[-0.09997850191681745,1.801415984196328,0.71338606911949],"aabb_xy":[[-0.12449212601382331,1.7771513908942917],[-0.0754648778198116,1.8256805774983647]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_24","position":[0.4659033935389534,-2.4670879211537704,0.71338606911949],"aabb_xy":[[0.42840339304159514,-2.471056604701889],[0.5034033940363116,-2.463119237605652]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6898612047043533,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8673.png","name":"8673"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8673.png","name":"8673"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5354.png","name":"5354"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2301.png","name":"2301"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9588.png","name":"9588"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2779.png","name":"2779"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":521.8611586696906,"rotation_z_degrees":175.0814383836267,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0055740991529954695,-0.0012182313898652722,-0.003409085335183977]},{"name":"camera_2","offset_m":[-0.01984751913118914,-0.0028458367328622856,0.0075774111653964075]},{"name":"camera_3","offset_m":[0.019512841692038468,-0.011959178600703405,-0.003975004002922711]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00016512504609629206,-0.0018862614959418377,0.0017707879733604797],"end_effector_yaw_offset_degrees":0.39819830197167705},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.000552343993693143,0.000376730180394364,-0.00022089096008756181],"end_effector_yaw_offset_degrees":-0.9817871036906411},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00119542070642998,-0.000647198466489996,-0.0009688124478524362],"end_effector_yaw_offset_degrees":0.36280552803338173}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0035016588155971995,0.0018359517245875971],"position_m":[0.27539834118440276,-0.1158640482754124,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0017483634042993502,-0.004202874016532409],"position_m":[0.22824836340429935,-0.4134028740165324,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0013305954127270404,-0.0033083913464129677],"position_m":[0.35126940458727296,0.06269160865358704,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004178428194570806,0.0020113942909473007],"position_m":[0.3380215718054292,0.32591139429094734,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4ea82f3a9ab18a66643bf093082a474daf8a4e9919818d61969007e7bb018cb1","episode_index":36,"episode_name":"episode_0036"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0036.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_8673/tex_ceiling_textures_2779/tex_floor_textures_9588/tex_table_textures_5354/tex_wall_textures_2301","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":4996819065702003699,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":4996819065702003699,"visual_seed":4996819065702003699,"scene_id":"lab_003","finished_at":"2026-09-04T01:10:32"} +{"episode_id":"ep_000037","started_at":"2026-09-04T01:10:36","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_0","position":[0.5628513286571217,0.3963635692144196,0.71338606911949],"aabb_xy":[[0.5502486295200454,0.3837681729895541],[0.5754540277941983,0.4089589654392851]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_1","position":[0.36506310298300915,1.749817009339084,0.71338606911949],"aabb_xy":[[0.34259833301160403,1.7273170084602232],[0.38752787295441427,1.7723170102179442]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_2","position":[-0.30623520720373215,-1.953562126733567,0.71338606911949],"aabb_xy":[[-0.31870256531346786,-1.9660274513668905],[-0.29376784909399656,-1.9410968021002435]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_3","position":[-0.5916074627639305,1.3206914201151405,0.71338606911949],"aabb_xy":[[-0.6194524995445376,1.289906921376829],[-0.5637624259833234,1.3514759188534524]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_4","position":[0.6398200900606972,0.19155956482083836,0.71338606911949],"aabb_xy":[[0.6098525331508715,0.16155956452295261],[0.6697876469705228,0.2215595651187241]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_5","position":[-0.18084992828596957,1.8211116915820305,0.71338606911949],"aabb_xy":[[-0.26084992626675463,1.8135101506201787],[-0.10084993030518453,1.8287132325438826]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_6","position":[0.5683322799143145,1.4793041235644462,0.71338606911949],"aabb_xy":[[0.5183322789637815,1.4477549765609246],[0.6183322808648472,1.5108532705679674]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_7","position":[-0.454625512862533,0.8687996805986673,0.71338606911949],"aabb_xy":[[-0.5044422923273677,0.8187996821143638],[-0.4048087333976983,0.9187996790829706]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_8","position":[-0.593888699096303,-2.513235441213299,0.71338606911949],"aabb_xy":[[-0.6109907770546712,-2.530342246744569],[-0.5767866211379349,-2.4961286356820294]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_9","position":[0.4614728581471992,-2.177579922860655,0.71338606911949],"aabb_xy":[[0.39747285956062667,-2.224586886260164],[0.5254728567337716,-2.1305729594611464]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_10","position":[0.5809686746454825,-2.506509636791841,0.71338606911949],"aabb_xy":[[0.5309686732845953,-2.5564875413672565],[0.6309686760063697,-2.4565317322164253]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_11","position":[0.6037765931117451,1.2538258406398275,0.71338606911949],"aabb_xy":[[0.5808608802266954,1.2309215435034042],[0.6266923059967952,1.2767301377762512]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_12","position":[-0.38322081541067704,1.7562449468912305,0.71338606911949],"aabb_xy":[[-0.4632208186746901,1.742684914582317],[-0.30322081214666385,1.7698049792001436]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_13","position":[0.1028762123710314,-1.6288555012752912,0.71338606911949],"aabb_xy":[[0.012876210037012364,-1.7063378558604037],[0.19287621470505048,-1.5513731466901783]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_14","position":[-0.6395700167519329,-1.5361943921481755,0.71338606911949],"aabb_xy":[[-0.6437058730846331,-1.5736943915925325],[-0.6354341604192327,-1.4986943927038185]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_15","position":[-0.09493237468479865,-1.073045965917199,0.71338606911949],"aabb_xy":[[-0.14491661039297588,-1.1230459647306945],[-0.04494813897662142,-1.0230459671037033]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_16","position":[0.09833405684848373,-1.291756138932938,0.71338606911949],"aabb_xy":[[0.04833405820256255,-1.3416756825924003],[0.14833405549440493,-1.2418365952734756]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_17","position":[0.5727063634055365,-0.7274139920747458,0.71338606911949],"aabb_xy":[[0.48770636471346174,-0.7593998554696246],[0.657706362097611,-0.6954281286798669]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_18","position":[0.15958875041232168,-2.297100070889039,0.71338606911949],"aabb_xy":[[0.0795887517554357,-2.311604929813302],[0.2395887490692077,-2.282595211964776]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_19","position":[-0.2036993610755829,1.474576115609223,0.71338606911949],"aabb_xy":[[-0.23747492026627584,1.460537620396058],[-0.1699238018848899,1.4886146108223879]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_20","position":[-0.5801154155425804,-0.6295715198938259,0.71338606911949],"aabb_xy":[[-0.6176154167273731,-0.6339897425898863],[-0.5426154143577875,-0.6251532971977652]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_21","position":[0.4967165033339942,-0.8714753440081253,0.71338606911949],"aabb_xy":[[0.43271650192600364,-0.92326429553205],[0.5607165047419849,-0.8196863924842006]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_22","position":[0.26492483209538586,-1.7310416381178695,0.71338606911949],"aabb_xy":[[0.2522980448081895,-1.7405877118194422],[0.2775516193825822,-1.7214955644162964]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_23","position":[0.6926079843588233,-2.0935512523532984,0.71338606911949],"aabb_xy":[[0.6747388766043678,-2.1073841603305095],[0.7104770921132788,-2.0797183443760874]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_24","position":[-0.6035831711359676,0.0017360674312913993,0.71338606911949],"aabb_xy":[[-0.6675831682480733,-0.047296302363119214],[-0.5395831740238619,0.05076843722570201]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_25","position":[0.6461980388421644,-2.290008828832798,0.71338606911949],"aabb_xy":[[0.6310351658652273,-2.305174286127917],[0.6613609118191015,-2.2748433715376795]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_26","position":[-0.12655548499888292,1.2956788586706507,0.71338606911949],"aabb_xy":[[-0.1760359062128417,1.2316788607577989],[-0.07707506378492412,1.3596788565835025]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_27","position":[-0.1117122594646428,-2.0795661157925274,0.71338606911949],"aabb_xy":[[-0.1717122599724957,-2.136412849478448],[-0.051712258956789874,-2.022719382106606]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6955036416244433,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6590.png","name":"6590"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6590.png","name":"6590"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7008.png","name":"7008"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/644.png","name":"644"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/884.png","name":"884"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3022.png","name":"3022"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":688.8573150271993,"rotation_z_degrees":222.84344395999966,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012386884364693405,-0.016785834840292186,-0.003378823718666761]},{"name":"camera_2","offset_m":[0.016937899438903215,0.015552571136434958,-0.018740917689077378]},{"name":"camera_3","offset_m":[0.002874041510689901,0.0021247084261539623,-0.0182847870989113]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006761893491786766,0.0008287649602486649,-0.0016188933335154689],"end_effector_yaw_offset_degrees":-0.027208721436811967},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.000223674991927947,0.0019435263353853654,-0.0004240894165634334],"end_effector_yaw_offset_degrees":-0.36142921072726253},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009690723260732787,-0.00011760904416153063,-0.001563283532324551],"end_effector_yaw_offset_degrees":-0.35416800508302404}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0036746882592032628,-0.004135304684984223],"position_m":[0.28257468825920323,-0.12183530468498423,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0018042940818199906,0.0032355044538205377],"position_m":[0.22830429408182,-0.40596449554617947,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0048007580239084096,0.0005335943610537963],"position_m":[0.3574007580239084,0.0665335943610538,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004244637557602211,-0.001842068702117755],"position_m":[0.34644463755760224,0.3220579312978823,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"757e14c7b54886906dfbd2fe14070d41bb2f3526f8a0a3d5ad4801e6c044533c","episode_index":37,"episode_name":"episode_0037"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0037.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_6590/tex_ceiling_textures_3022/tex_floor_textures_884/tex_table_textures_7008/tex_wall_textures_644","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":2469122418437363318,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":2469122418437363318,"visual_seed":2469122418437363318,"scene_id":"lab_003","finished_at":"2026-09-04T01:13:16"} +{"episode_id":"ep_000038","started_at":"2026-09-04T01:13:19","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_0","position":[-0.31371366560404496,-1.5324031019310067,0.71338606911949],"aabb_xy":[[-0.3436812225138707,-1.5624031022288924],[-0.28374610869421935,-1.502403101633121]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_1","position":[-0.04598054556754916,0.9197875066632006,0.71338606911949],"aabb_xy":[[-0.09598054685138911,0.8698086522725783],[0.004019455716290809,0.9697663610538225]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_2","position":[-0.3770079400284175,-2.064527059646993,0.71338606911949],"aabb_xy":[[-0.4270027729563591,-2.1145270585422367],[-0.3270131071004759,-2.0145270607517496]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_3","position":[0.584884154955525,0.9422234886739815,0.71338606911949],"aabb_xy":[[0.5673841558211578,0.9323438616363938],[0.6023841540898921,0.9521031157115695]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_4","position":[-0.333594902245742,-1.342335823711736,0.71338606911949],"aabb_xy":[[-0.34151818248449034,-1.3648358239497393],[-0.3256716220069937,-1.3198358234737326]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_5","position":[0.6017340832814722,-2.127475577591454,0.71338606911949],"aabb_xy":[[0.5921024470610425,-2.1371128903711627],[0.6113657195019018,-2.117838264811745]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_6","position":[-0.3069300311596325,0.41195161859973606,0.71338606911949],"aabb_xy":[[-0.3160899101035091,0.40542040055619905],[-0.2977701522157559,0.41848283664327307]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_7","position":[-0.4747781287459245,-0.6712274418970179,0.71338606911949],"aabb_xy":[[-0.4824813194200015,-0.6789368125957559],[-0.4670749380718474,-0.6635180711982799]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_8","position":[0.538124478721203,-1.7409776674747528,0.71338606911949],"aabb_xy":[[0.4741244784607321,-1.7859864668276808],[0.6021244789816736,-1.6959688681218248]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_9","position":[0.20976528040926223,1.0144192014537246,0.71338606911949],"aabb_xy":[[0.19819629966232566,0.9894192013367928],[0.2213342611561988,1.0394192015706563]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_10","position":[0.1058711667681983,0.8858085667884086,0.71338606911949],"aabb_xy":[[0.09503068854168338,0.8686222854977598],[0.11671164499471319,0.9029948480790574]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_11","position":[-0.3838353757890325,-0.005541618542360904,0.71338606911949],"aabb_xy":[[-0.4149822946326156,-0.07554161722916808],[-0.35268845694544937,0.06445838014444627]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_12","position":[-0.3661900947698294,-2.56873041367944,0.71338606911949],"aabb_xy":[[-0.4036900952671876,-2.572699097227558],[-0.3286900942724711,-2.564761730131321]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_13","position":[0.5929991981592426,-0.0014326448153907378,0.71338606911949],"aabb_xy":[[0.5289991958164411,-0.04637349605952323],[0.6569992005020442,0.04350820642874175]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_14","position":[0.5950931986216614,-1.9570260226380911,0.71338606911949],"aabb_xy":[[0.5822212951207213,-2.0370260230519275],[0.6079651021226016,-1.8770260222242552]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_15","position":[0.3258818386929203,-1.2603548666158226,0.71338606911949],"aabb_xy":[[0.3083035365039734,-1.2779293561899276],[0.3434601408818671,-1.2427803770417176]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_16","position":[0.059019736049134686,-1.2182316582757502,0.71338606911949],"aabb_xy":[[0.024722825031394058,-1.2525285444856913],[0.09331664706687531,-1.1839347720658087]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_17","position":[-0.3516842279974102,-1.897229768519907,0.71338606911949],"aabb_xy":[[-0.3707965353553891,-1.9163645473971491],[-0.33257192063943136,-1.878094989642665]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_18","position":[-0.5770015861520139,1.4149838909628616,0.71338606911949],"aabb_xy":[[-0.5904481127860572,1.40151403930977],[-0.5635550595179706,1.4284537426159527]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_19","position":[0.6173655873677117,-0.3672182093157059,0.71338606911949],"aabb_xy":[[0.579865587019484,-0.3790096048967894],[0.6548655877159395,-0.3554268137346223]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_20","position":[-0.11426920741514213,-0.5559529153324911,0.71338606911949],"aabb_xy":[[-0.1293715088761602,-0.5710544369635528],[-0.09916690595412402,-0.5408513937014292]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_21","position":[0.5584151535071376,-2.5007460290220087,0.71338606911949],"aabb_xy":[[0.47841515491981806,-2.5800616309601696],[0.6384151520944569,-2.421430427083848]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_22","position":[0.22321328293724574,-1.3079846737705931,0.71338606911949],"aabb_xy":[[0.20071328292709745,-1.3220808934101964],[0.24571328294739403,-1.2938884541309899]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_23","position":[0.4832273477150373,1.352317413165839,0.71338606911949],"aabb_xy":[[0.4032273507519981,1.2752417715220656],[0.5632273446780764,1.4293930548096125]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_24","position":[-0.5197211897440386,-0.7864548499107262,0.71338606911949],"aabb_xy":[[-0.5501193008431821,-0.8168617519123956],[-0.48932307864489494,-0.7560479479090566]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6905891191068166,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9989.png","name":"9989"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9989.png","name":"9989"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1183.png","name":"1183"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2953.png","name":"2953"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5894.png","name":"5894"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7124.png","name":"7124"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":830.599599634628,"rotation_z_degrees":298.595923470842,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007942978971885516,-0.012973125108712714,-0.01427198122725502]},{"name":"camera_2","offset_m":[0.0021754753138261765,-0.0005055432684940089,0.009491845056037802]},{"name":"camera_3","offset_m":[-0.011683303029342893,-0.019824614376706948,0.00423149940764438]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0002552258783483003,-0.0006752300619862273,-0.0013273327814662674],"end_effector_yaw_offset_degrees":-0.2661594116228889},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001987693379779725,-0.0013461525965159388,0.0010340712765871188],"end_effector_yaw_offset_degrees":-0.9849362109535209},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000766900384524253,2.7299419828649002e-05,0.001468710000659585],"end_effector_yaw_offset_degrees":-0.6388676954272263}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0005987974150916796,-0.002745189854397909],"position_m":[0.2783012025849083,-0.12044518985439791,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0034943237777021246,0.0010992723600469654],"position_m":[0.22999432377770213,-0.40810072763995303,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0023545686596763704,0.0033524987703398767],"position_m":[0.3549545686596764,0.06935249877033987,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0033867067545909615,0.0020749872807611838],"position_m":[0.33881329324540904,0.3259749872807612,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"517b870349153d92f7c2717853b01d8f78194f34ba7bdfec1b9628700c9308a6","episode_index":38,"episode_name":"episode_0038"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0038.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_9989/tex_ceiling_textures_7124/tex_floor_textures_5894/tex_table_textures_1183/tex_wall_textures_2953","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":6617625661023257714,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":6617625661023257714,"visual_seed":6617625661023257714,"scene_id":"lab_003","finished_at":"2026-09-04T01:15:59"} +{"episode_id":"ep_000039","started_at":"2026-09-04T01:16:02","dimensions":{"distractor":{"count":22,"items":[{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_0","position":[0.5372803778714623,-0.9800998926240527,0.71338606911949],"aabb_xy":[[0.5263746017838995,-1.0600998890228817],[0.5481861539590249,-0.9000998962252235]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_1","position":[0.25741794194244094,-1.213196801570335,0.71338606911949],"aabb_xy":[[0.19341793865273274,-1.2565317205742526],[0.32141794523214895,-1.1698618825664173]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_2","position":[0.18216765182990147,-0.9641022124904557,0.71338606911949],"aabb_xy":[[0.14362195900470043,-1.0026479835466444],[0.2207133446551025,-0.9255564414342671]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_3","position":[0.20744856650885335,-0.7443205810269176,0.71338606911949],"aabb_xy":[[0.19620351093823551,-0.7555623787510127],[0.21869362207947118,-0.7330787833028222]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_4","position":[0.22989271817059775,-2.0612366252105128,0.71338606911949],"aabb_xy":[[0.1954303707724559,-2.0957305076083346],[0.26435506556873944,-2.026742742812689]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_5","position":[-0.4514647355871325,-2.102327251227663,0.71338606911949],"aabb_xy":[[-0.5065899412167232,-2.1623272526689497],[-0.3963395299575417,-2.0423272497863754]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_6","position":[0.042562009736122675,-2.0975370880552786,0.71338606911949],"aabb_xy":[[-0.002716605145026585,-2.1615370874034623],[0.08784062461727193,-2.033537088707095]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_7","position":[-0.5887560424338231,-0.6220996752462766,0.71338606911949],"aabb_xy":[[-0.6137560419855616,-0.6322421591114112],[-0.5637560428820846,-0.6119571913811418]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_8","position":[-0.6284202452841224,1.1480570252619247,0.71338606911949],"aabb_xy":[[-0.6900110045081154,1.084057027152878],[-0.5668294860601297,1.2120570233709718]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_9","position":[0.39340371177454103,-2.4519665794710863,0.71338606911949],"aabb_xy":[[0.3655586749939339,-2.482751078209398],[0.42124874855514816,-2.4211820807327746]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_10","position":[-0.42890815992393316,0.5928048060986564,0.71338606911949],"aabb_xy":[[-0.4929081592181014,0.5288186657298021],[-0.36490816062976494,0.6567909464675105]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_11","position":[-0.09664997121272567,-2.0232292462900743,0.71338606911949],"aabb_xy":[[-0.11414990464670902,-2.040729246210309],[-0.07915003777874227,-2.0057292463698397]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_12","position":[-0.4491651778631862,1.3852673326966904,0.71338606911949],"aabb_xy":[[-0.49046972092692215,1.3212673331285734],[-0.4078606347994502,1.4492673322648075]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_13","position":[-0.5998117987294326,-1.8578677259582865,0.71338606911949],"aabb_xy":[[-0.6368459081574923,-1.8922449332919957],[-0.5627776893013728,-1.823490518624577]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_14","position":[-0.27774894050534593,-0.7986113511555133,0.71338606911949],"aabb_xy":[[-0.3627489389227691,-0.8834856466177983],[-0.19274894208792265,-0.7137370556932283]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_15","position":[0.028975455180906384,-2.4060416138259897,0.71338606911949],"aabb_xy":[[-0.0120424882054645,-2.456041614456947],[0.06999339856727727,-2.3560416131950324]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_16","position":[0.49445891695767186,0.19248933359960718,0.71338606911949],"aabb_xy":[[0.4304589166836936,0.14242323340231924],[0.5584589172316501,0.24255543379689518]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_17","position":[-0.1430864026157609,-2.475979804868531,0.71338606911949],"aabb_xy":[[-0.19308141357521297,-2.5259798039041232],[-0.09309139165630888,-2.42597980583294]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_18","position":[0.6035060792357403,0.625811667454649,0.71338606911949],"aabb_xy":[[0.5135060769017212,0.5483293128695363],[0.6935060815697593,0.7032940220397617]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_19","position":[0.43189205541292086,0.4952524353576009,0.71338606911949],"aabb_xy":[[0.4254782417697358,0.4888426151099325],[0.4383058690561057,0.5016622556052691]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_20","position":[0.005619606961435819,0.8273942269014092,0.71338606911949],"aabb_xy":[[-0.006252476050065293,0.7423942272077589],[0.01749168997293693,0.9123942265950596]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_21","position":[-0.6131731070659618,-0.8256133297775787,0.71338606911949],"aabb_xy":[[-0.6377193226887126,-0.8558622263266158],[-0.5886268914432111,-0.7953644332285417]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6936765332956083,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6933.png","name":"6933"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6933.png","name":"6933"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3044.png","name":"3044"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7289.png","name":"7289"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7249.png","name":"7249"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1496.png","name":"1496"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":661.638260194772,"rotation_z_degrees":104.63469599781632,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007001120374383895,0.0053708647247676135,0.0034665565139511273]},{"name":"camera_2","offset_m":[0.013941951685143613,0.009441578711631992,0.004131636685380195]},{"name":"camera_3","offset_m":[-0.012119665123945352,-0.0010477062462254695,0.0004444428538087769]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007805077444800958,-0.00043986786160007626,-0.0019461485955388925],"end_effector_yaw_offset_degrees":-0.9185955154339756},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00040340868906259047,-0.0014609947147579034,0.0005466208118495002],"end_effector_yaw_offset_degrees":-0.5109236372838857},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005942700317837285,0.0010515887870898711,0.0007263252648634149],"end_effector_yaw_offset_degrees":-0.7349471723349708}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004651975232845484,0.0013434321377498127],"position_m":[0.2742480247671545,-0.11635656786225018,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0040010728829861794,-0.0016278547573257795],"position_m":[0.23050107288298619,-0.4108278547573258,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004233544950551414,0.003426745211193843],"position_m":[0.34836645504944863,0.06942674521119385,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0008983117248992549,0.003967908829018193],"position_m":[0.34130168827510077,0.32786790882901823,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8725dfd63643fd5188dcda6c169bd59cf8793a4175311310a0a0e17360b842fc","episode_index":39,"episode_name":"episode_0039"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0039.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_6933/tex_ceiling_textures_1496/tex_floor_textures_7249/tex_table_textures_3044/tex_wall_textures_7289","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":5260470475268235060,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":5260470475268235060,"visual_seed":5260470475268235060,"scene_id":"lab_003","finished_at":"2026-09-04T01:18:58"} +{"episode_id":"ep_000040","started_at":"2026-09-04T01:19:01","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_0","position":[0.3813089340870437,-2.281860314965721,0.71338606911949],"aabb_xy":[[0.37426748313629604,-2.288887066703516],[0.38835038503779123,-2.274833563227927]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_1","position":[-0.09367023508660965,0.5332443193820389,0.71338606911949],"aabb_xy":[[-0.14367023452680527,0.48327639489772245],[-0.04367023564641402,0.5832122438663551]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_2","position":[0.021916557568196993,1.1461223950312527,0.71338606911949],"aabb_xy":[[-0.015583442603674946,1.1134216596483455],[0.05941655774006893,1.1788231304141599]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_3","position":[0.5115041170238113,-0.4728256638944819,0.71338606911949],"aabb_xy":[[0.4704861736374403,-0.5228256645254392],[0.552522060410182,-0.4228256632635246]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_4","position":[-0.46609319259783527,-1.8488169700042258,0.71338606911949],"aabb_xy":[[-0.5460931905786204,-1.8564185109660782],[-0.3860931946170502,-1.8412154290423743]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_5","position":[0.626552944822192,1.7619413987503765,0.71338606911949],"aabb_xy":[[0.5767361653573573,1.7119414002660729],[0.6763697242870268,1.8119413972346796]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_6","position":[-0.4559607000960362,-1.5079899977043898,0.71338606911949],"aabb_xy":[[-0.5199607015040267,-1.5597789492283143],[-0.39196069868804545,-1.4562010461804649]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_7","position":[-0.3577799912471438,-1.3109255845902872,0.71338606911949],"aabb_xy":[[-0.4377799882613918,-1.3310601362636985],[-0.27777999423289584,-1.290791032916876]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_8","position":[-0.3780899699911202,-2.3623614568926663,0.71338606911949],"aabb_xy":[[-0.38817167706969363,-2.4423614547847805],[-0.3680082629125467,-2.282361459000551]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_9","position":[0.6808623867748369,0.02189442264303132,0.71338606911949],"aabb_xy":[[0.6699566106872742,-0.058105573755797835],[0.6917681628623996,0.10189441904186047]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_10","position":[-0.610525662281515,0.8518235736806572,0.71338606911949],"aabb_xy":[[-0.6905256633546353,0.8420455273432728],[-0.5305256612083946,0.8616016200180416]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_11","position":[0.5984576563691277,0.43775902603528927,0.71338606911949],"aabb_xy":[[0.594341706257055,0.4336434710024437],[0.6025736064812003,0.4418745810681347]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_12","position":[0.04796689253663167,1.58802955967731,0.71338606911949],"aabb_xy":[[-0.016033107723839136,1.543020760324382],[0.11196689279710248,1.633038359030238]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_13","position":[0.5739312873938072,-0.6804847915097507,0.71338606911949],"aabb_xy":[[0.5239320122253709,-0.7304847927856981],[0.6239305625622432,-0.6304847902338038]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_14","position":[-0.3665294822064015,-0.3443623388630108,0.71338606911949],"aabb_xy":[[-0.38320661819949703,-0.3610622628369411],[-0.349852346213306,-0.32766241488908054]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_15","position":[-0.0031920147588690995,-1.8757134967878764,0.71338606911949],"aabb_xy":[[-0.06719201546233845,-1.9217318792607976],[0.060807985944600254,-1.8296951143149556]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_16","position":[-0.005141549676495938,-1.1985914358093441,0.71338606911949],"aabb_xy":[[-0.022719851865442786,-1.216165925383449],[0.01243675251245091,-1.181016946235239]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_17","position":[-0.08455655595068201,-0.7837369290108775,0.71338606911949],"aabb_xy":[[-0.09013822758481077,-0.7962369288286532],[-0.07897488431655325,-0.7712369291931022]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_18","position":[0.6424970654122504,1.3921947698597346,0.71338606911949],"aabb_xy":[[0.5774970668551775,1.362442236445852],[0.7074970639693232,1.4219473032736172]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_19","position":[0.6180976939029363,-1.1661494142879523,0.71338606911949],"aabb_xy":[[0.58130306077803,-1.2030552893845345],[0.6548923270278425,-1.12924353919137]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_20","position":[0.09596936652463162,-0.9363472861989035,0.71338606911949],"aabb_xy":[[0.05846936658086521,-0.94464037623374],[0.13346936646839802,-0.9280541961640668]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_21","position":[0.29212067216809856,-1.8849844765446009,0.71338606911949],"aabb_xy":[[0.286783096502094,-1.909984477473741],[0.29745824783410313,-1.8599844756154613]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_22","position":[-0.23628269002599628,-2.439638890930287,0.71338606911949],"aabb_xy":[[-0.2862758021351882,-2.489638891604483],[-0.1862895779168044,-2.3896388902560917]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_23","position":[-0.4511595468389441,-0.011146854292046982,0.71338606911949],"aabb_xy":[[-0.46870624175506304,-0.04864685585629824],[-0.43361285192282517,0.02635314727220428]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_24","position":[-0.427398152856676,0.9992127481968671,0.71338606911949],"aabb_xy":[[-0.4498981533687165,0.9767208898314685],[-0.40489815234463533,1.0217046065622652]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_25","position":[-0.19872349583856458,1.7954426840036128,0.71338606911949],"aabb_xy":[[-0.20752555114753726,1.7876313578486838],[-0.18992144052959184,1.803254010158542]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_26","position":[0.5564777546325175,-1.4587262637134617,0.71338606911949],"aabb_xy":[[0.5214777547364986,-1.4671004992254018],[0.5914777545285363,-1.4503520282015216]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_27","position":[-0.5830909812513337,-0.8902567471483109,0.71338606911949],"aabb_xy":[[-0.6291760725060652,-0.954256744400866],[-0.5370058899966023,-0.8262567498957558]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6895727822470742,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6526.png","name":"6526"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6526.png","name":"6526"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3004.png","name":"3004"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5515.png","name":"5515"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2716.png","name":"2716"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9505.png","name":"9505"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":796.2913968471803,"rotation_z_degrees":153.24227679298178,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006204117939149011,-0.0058386426674512,0.00981565564535837]},{"name":"camera_2","offset_m":[0.01642795880449757,-0.005098509552298234,0.0072131067903882275]},{"name":"camera_3","offset_m":[0.004758085807607167,0.010327601122691515,-0.0028534779962831013]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017272991720750455,0.00011686089955110449,-0.0011721591135331227],"end_effector_yaw_offset_degrees":-0.15534246623525583},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0004444595049566428,-0.00012499896859207425,-0.0017684676212094427],"end_effector_yaw_offset_degrees":0.4332970588495475},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006481453402561546,-0.001058272111895874,-0.000965117081992196],"end_effector_yaw_offset_degrees":0.7251891392041123}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0006286331987737405,-0.004427052113590489],"position_m":[0.2782713668012262,-0.12212705211359048,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0009385710457128068,0.003106072651981015],"position_m":[0.2274385710457128,-0.40609392734801897,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0025674656319579427,0.00032228798464069633],"position_m":[0.3500325343680421,0.0663222879846407,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0024361392010500806,-0.0018772632322113193],"position_m":[0.33976386079894993,0.3220227367677887,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a02aac40dbb8c8f99ceaa404d0b5b44bbb74b07f1acec66a34818733e3abcc3d","episode_index":40,"episode_name":"episode_0040"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0040.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_6526/tex_ceiling_textures_9505/tex_floor_textures_2716/tex_table_textures_3004/tex_wall_textures_5515","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":1702898094269069921,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":1702898094269069921,"visual_seed":1702898094269069921,"scene_id":"lab_003","finished_at":"2026-09-04T01:21:44"} +{"episode_id":"ep_000041","started_at":"2026-09-04T01:21:49","dimensions":{"distractor":{"count":30,"items":[{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_0","position":[0.48081598719921526,0.5085334267925243,0.71338606911949],"aabb_xy":[[0.4689439041877141,0.423533427098874],[0.4926880702107163,0.5935334264861747]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_1","position":[0.08040889710714882,1.2997611129136355,0.71338606911949],"aabb_xy":[[0.07550960480058531,1.2720841936110667],[0.08530818941371231,1.3274380322162043]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_2","position":[0.3651443176299429,-2.054008190442127,0.71338606911949],"aabb_xy":[[0.31997299978177396,-2.1180081875866654],[0.41031563547811195,-1.9900081932975886]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_3","position":[-0.01937314696845316,1.2228289168295268,0.71338606911949],"aabb_xy":[[-0.05687314848408487,1.2116021438133817],[0.01812685454717855,1.2340556898456718]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_4","position":[-0.23979262897193482,0.7758572831081061,0.71338606911949],"aabb_xy":[[-0.3197926269527198,0.7682557421462541],[-0.15979263099114976,0.783458824069958]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_5","position":[-0.4203641053252743,0.8706848974130206,0.71338606911949],"aabb_xy":[[-0.44025514520561465,0.8580290861283238],[-0.40047306544493416,0.8833407086977175]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_6","position":[0.49439771933277377,1.0808567506968774,0.71338606911949],"aabb_xy":[[0.4722251923561228,1.058681083540754],[0.5165702463094245,1.1030324178530002]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_7","position":[-0.24071068674245244,-1.7775718949880472,0.71338606911949],"aabb_xy":[[-0.2819594977723671,-1.8325718945002643],[-0.19946187571253768,-1.7225718954758293]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_8","position":[-0.5349054604841876,1.125701866993944,0.71338606911949],"aabb_xy":[[-0.5395405756364209,1.1218345319167953],[-0.5302703453319542,1.1295692020710928]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_9","position":[-0.4332720020267833,-1.4466668192484176,0.71338606911949],"aabb_xy":[[-0.43958410156312167,-1.4524337585016363],[-0.4269599024904448,-1.4408998799951984]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_10","position":[0.6155372407330197,-0.6653648645001085,0.71338606911949],"aabb_xy":[[0.5355372402628039,-0.6736755721144569],[0.6955372412032358,-0.6570541568857602]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_11","position":[-0.5030829777069328,0.1852144573484158,0.71338606911949],"aabb_xy":[[-0.526919195347538,0.09521445653992935],[-0.4792467600663278,0.2752144581569023]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_12","position":[-0.22611169376430396,0.5227780905517494,0.71338606911949],"aabb_xy":[[-0.3161116974412221,0.4613456839746449],[-0.13611169008738574,0.5842104971288536]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_13","position":[0.44159565219911956,-0.4250876215810635,0.71338606911949],"aabb_xy":[[0.39446627319728383,-0.4890876226254654],[0.4887250312009552,-0.3610876205366615]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_14","position":[-0.3874756894502887,-1.9772396320528118,0.71338606911949],"aabb_xy":[[-0.45147568874445687,-2.041225772421666],[-0.32347569015612043,-1.9132534916839574]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_15","position":[0.11509433224182253,1.118918603981895,0.71338606911949],"aabb_xy":[[0.09841719624872702,1.1022186800079647],[0.13177146823491803,1.1356185279558253]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_16","position":[0.5169097441674637,-0.15495511818179253,0.71338606911949],"aabb_xy":[[0.48244739676932175,-0.1894490005796152],[0.5513720915656053,-0.12046123578396982]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_17","position":[0.6090289273056655,1.4673798952368462,0.71338606911949],"aabb_xy":[[0.5450289309100925,1.4034166068181126],[0.6730289237012387,1.5313431836555798]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_18","position":[0.5129567843569145,1.7041815035019492,0.71338606911949],"aabb_xy":[[0.5056955367865071,1.69139449323844],[0.5202180319273221,1.716968513765459]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_19","position":[0.42559300248846244,-1.3790079843380985,0.71338606911949],"aabb_xy":[[0.37559989037927066,-1.4290079850122943],[0.47558611459765443,-1.329007983663903]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_20","position":[0.5437321407388136,0.5917647173893181,0.71338606911949],"aabb_xy":[[0.5357381521611101,0.5837646372942278],[0.5517261293165169,0.5997647974844085]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_21","position":[0.0432973050024168,-1.956984586665072,0.71338606911949],"aabb_xy":[[0.0057973047102419795,-1.9610260620656756],[0.08079730529459161,-1.9529431112644686]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_22","position":[-0.3754967024915217,-0.7102080501863355,0.71338606911949],"aabb_xy":[[-0.4128279790167644,-0.7448611049811877],[-0.3381654259662791,-0.6755549953914832]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_23","position":[0.09055213840856413,0.9840289973134024,0.71338606911949],"aabb_xy":[[0.06803844658510692,0.9140289967123948],[0.11306583023202131,1.05402899791441]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_24","position":[0.6765722363588549,1.013460369342122,0.71338606911949],"aabb_xy":[[0.6390722362532618,1.0066382074891407],[0.7140722364644477,1.020282531195103]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_25","position":[-0.31422839267462477,0.9839367810831012,0.71338606911949],"aabb_xy":[[-0.35126250210268445,0.9495595737493917],[-0.277194283246565,1.0183139884168106]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_26","position":[0.507984050861515,-2.0885296664808055,0.71338606911949],"aabb_xy":[[0.4652173439820948,-2.152529669902608],[0.5507507577409352,-2.024529663059003]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_27","position":[0.3676394297015195,1.5160286356770132,0.71338606911949],"aabb_xy":[[0.30263943181987174,1.464904971970472],[0.43263942758316737,1.567152299383554]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_28","position":[-0.5311588629840978,-0.9334719732637657,0.71338606911949],"aabb_xy":[[-0.6111588651468601,-1.0134271568899094],[-0.45115886082133516,-0.8535167896376221]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_29","position":[-0.49584028376599015,-0.37800021110947446,0.71338606911949],"aabb_xy":[[-0.5458402850498301,-0.4279790655000965],[-0.4458402824821502,-0.3280213567188523]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6950526556482034,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3891.png","name":"3891"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3891.png","name":"3891"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9794.png","name":"9794"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1423.png","name":"1423"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/424.png","name":"424"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/296.png","name":"296"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":821.1971577459822,"rotation_z_degrees":90.32748512008956,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006697502041747631,-0.016644263493869587,-0.010828609002794077]},{"name":"camera_2","offset_m":[0.01832285628849194,-0.0012949985816639448,-0.008632981513964407]},{"name":"camera_3","offset_m":[-0.014791647872511247,-0.016228663808677938,-0.0021052129599821376]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018719781162699085,0.0008829543368630518,-0.0012498231131323778],"end_effector_yaw_offset_degrees":0.36960881711269056},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00105950200676642,-0.0005136254722463551,0.0003991309780750174],"end_effector_yaw_offset_degrees":0.928687057564211},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011023496957774923,0.0005128571968117898,-0.0010057056259441465],"end_effector_yaw_offset_degrees":0.7978242076903954}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001186132596603602,-0.004154982868475408],"position_m":[0.2800861325966036,-0.1218549828684754,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004091658747583057,0.0006218001546756495],"position_m":[0.22240834125241696,-0.40857819984532434,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003966828538229856,-0.004696615156947795],"position_m":[0.3565668285382299,0.06130338484305221,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0005532104674984715,0.004172681028359875],"position_m":[0.34275321046749846,0.3280726810283599,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"db7cb65777adf44b04e371dc81044c5a4003073427f2798c8a083bdd39f7cf1e","episode_index":41,"episode_name":"episode_0041"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0041.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_3891/tex_ceiling_textures_296/tex_floor_textures_424/tex_table_textures_9794/tex_wall_textures_1423","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":4890366190887566252,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":4890366190887566252,"visual_seed":4890366190887566252,"scene_id":"lab_003","finished_at":"2026-09-04T01:24:38"} +{"episode_id":"ep_000042","started_at":"2026-09-04T01:24:42","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_0","position":[-0.35812199626042074,-1.9802166842723974,0.71338606911949],"aabb_xy":[[-0.36728187520429734,-1.9867479023159342],[-0.34896211731654414,-1.97368546622886]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_1","position":[0.34398580048866045,-0.7611257276850643,0.71338606911949],"aabb_xy":[[0.3313590132014641,-0.770671801386637],[0.3566125877758568,-0.7515796539834912]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_2","position":[-0.3423403336875917,0.5082930756746511,0.71338606911949],"aabb_xy":[[-0.3476728483422047,0.5029687474294156],[-0.3370078190329787,0.5136174039198866]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_3","position":[0.5796207044920043,0.5263705060699668,0.71338606911949],"aabb_xy":[[0.5324913254901685,0.46237050502556487],[0.6267500834938399,0.5903705071143688]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_4","position":[-0.20911989574646106,-2.0011894324309627,0.71338606911949],"aabb_xy":[[-0.27311989285856675,-2.0502218022253733],[-0.14511989863435537,-1.952157062636552]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_5","position":[0.6603962864114057,1.3282415112084522,0.71338606911949],"aabb_xy":[[0.5963962857079362,1.2822231287355312],[0.7243962871148749,1.3742598936813732]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_6","position":[0.5066379554248959,-1.3591159338491587,0.71338606911949],"aabb_xy":[[0.45663795376340105,-1.4091143761048612],[0.5566379570863905,-1.3091174915934558]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_7","position":[-0.3378668444162805,-0.9125288181785889,0.71338606911949],"aabb_xy":[[-0.36286684396801894,-0.9226713020437236],[-0.31286684486454197,-0.9023863343134542]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_8","position":[0.3690125957199337,1.2351621393925054,0.71338606911949],"aabb_xy":[[0.36270049618359534,1.2293952001392865],[0.3753246952562722,1.2409290786457243]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_9","position":[0.15715420574636507,-1.6151156184604194,0.71338606911949],"aabb_xy":[[0.11860851292116403,-1.6536613895166081],[0.1956998985715661,-1.5765698474042307]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_10","position":[-0.05196842924485079,0.38037240164968766,0.71338606911949],"aabb_xy":[[-0.06964405983344912,0.36269218537028486],[-0.034292798656252454,0.39805261792909036]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_11","position":[-0.4657813816218566,0.6324609889672228,0.71338606911949],"aabb_xy":[[-0.47893262759314603,0.6074609892105364],[-0.4526301356505673,0.6574609887239095]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_12","position":[-0.4691248261240687,-2.0975985387621785,0.71338606911949],"aabb_xy":[[-0.47636859217031396,-2.177598536965781],[-0.4618810600778233,-2.017598540558576]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_13","position":[0.5287893966054789,1.0763644351584492,0.71338606911949],"aabb_xy":[[0.44878939862469375,1.0687628941965972],[0.6087893945862638,1.083965976120301]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_14","position":[0.44893566902072113,-0.44612794372975806,0.71338606911949],"aabb_xy":[[0.36521344352063867,-0.536127947264454],[0.5326578945208036,-0.3561279401950621]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_15","position":[-0.4612562262319699,-1.2129750118240736,0.71338606911949],"aabb_xy":[[-0.5112562275158099,-1.2629538662146957],[-0.4112562249481299,-1.1629961574334515]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_16","position":[-0.5648784632051674,-0.5421722877088704,0.71338606911949],"aabb_xy":[[-0.5777503667061075,-0.6221722881227064],[-0.5520065597042272,-0.4621722872950342]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_17","position":[-0.05415886200401265,0.5333115894813427,0.71338606911949],"aabb_xy":[[-0.06296091731298534,0.5255002633264135],[-0.04535680669503993,0.5411229156362717]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_18","position":[0.06178499675780269,1.2756535426574502,0.71338606911949],"aabb_xy":[[0.02428499658593076,1.242952807274543],[0.09928499692967463,1.3083542780403574]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_19","position":[0.051139286777161064,-2.113707970282125,0.71338606911949],"aabb_xy":[[0.017699111581141447,-2.1471515961130545],[0.08457946197318064,-2.080264344451195]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_20","position":[0.437596020277222,-1.7293234334700145,0.71338606911949],"aabb_xy":[[0.4224238509955887,-1.7444922903982178],[0.4527681895588554,-1.7141545765418111]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_21","position":[0.4811659082161286,-2.5156253901870382,0.71338606911949],"aabb_xy":[[0.4679349626814472,-2.5288528092090368],[0.4943968537508098,-2.502397971165038]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_22","position":[-0.40438060561734895,0.5781934368621102,0.71338606911949],"aabb_xy":[[-0.40782128185740624,0.5743320038877459],[-0.4009399293772919,0.5820548698364748]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_23","position":[-0.4733400612627521,-1.93959806019457,0.71338606911949],"aabb_xy":[[-0.47818365602398205,-1.944449712673554],[-0.4684964665015221,-1.9347464077155858]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_24","position":[0.6326577597836738,-2.2573186512058525,0.71338606911949],"aabb_xy":[[0.5976577598876549,-2.265692886717792],[0.6676577596796927,-2.248944415693912]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_25","position":[-0.45410613573087777,-0.9150382923431672,0.71338606911949],"aabb_xy":[[-0.4793269725907174,-0.9402620431960539],[-0.42888529887103805,-0.8898145414902804]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_26","position":[0.6578789547441679,-1.4057241483611558,0.71338606911949],"aabb_xy":[[0.6403789544991185,-1.4232239362007226],[0.6753789549892173,-1.388224360521589]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_27","position":[-0.11296410268550161,1.5554297793988545,0.71338606911949],"aabb_xy":[[-0.1779641037914449,1.5304644063307262],[-0.04796410157955833,1.5803951524669828]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_28","position":[0.6696419867866115,0.09582865238258931,0.71338606911949],"aabb_xy":[[0.6609280177366769,0.07332865172340106],[0.6783559558365458,0.1183286530417775]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_29","position":[0.40589202791346635,-2.2827588996144477,0.71338606911949],"aabb_xy":[[0.3867797205554875,-2.3018936784916897],[0.4250043352714452,-2.2636241207372056]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_30","position":[-0.6143726145733223,-0.2856972326464491,0.71338606911949],"aabb_xy":[[-0.6518726160889541,-0.29692400566259414],[-0.5768726130576907,-0.27447045963030403]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6934910951945035,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6835.png","name":"6835"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6835.png","name":"6835"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4182.png","name":"4182"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7156.png","name":"7156"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5974.png","name":"5974"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2491.png","name":"2491"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":723.8900155824422,"rotation_z_degrees":60.94674714014354,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.002531272698149664,0.004614539735479154,0.01748376937130888]},{"name":"camera_2","offset_m":[-0.003500997720114824,0.00868319315639126,0.009275366858021154]},{"name":"camera_3","offset_m":[0.012704282068874955,0.001015292109251633,0.014339320820857458]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.000896708481941874,0.0016446178712550955,0.001922192532380974],"end_effector_yaw_offset_degrees":0.959864979155056},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011759313921587832,0.0009500534814667013,0.0012034897140824293],"end_effector_yaw_offset_degrees":-0.6405173378437865},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[7.120609068575132e-05,-0.0016233309140548085,0.001995986063993865],"end_effector_yaw_offset_degrees":0.10766807319361815}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[2.659188620557796e-05,3.369559924648342e-05],"position_m":[0.27892659188620555,-0.11766630440075351,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003029522179602422,-0.003394458154400604],"position_m":[0.22347047782039758,-0.4125944581544006,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004341445809994884,0.004007292998715742],"position_m":[0.3482585541900051,0.07000729299871575,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00029861383447465223,0.002453458067784354],"position_m":[0.34190138616552535,0.3263534580677844,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d0783f7b01f68e3026ae12767be394598009d81745e55b47ef9fe893598b7405","episode_index":42,"episode_name":"episode_0042"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0042.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6835/tex_ceiling_textures_2491/tex_floor_textures_5974/tex_table_textures_4182/tex_wall_textures_7156","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":4482175848376188433,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":4482175848376188433,"visual_seed":4482175848376188433,"scene_id":"lab_003","finished_at":"2026-09-04T01:27:33"} +{"episode_id":"ep_000043","started_at":"2026-09-04T01:27:36","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_0","position":[-0.010640068260467817,-1.8583940025548686,0.71338606911949],"aabb_xy":[[-0.07464006896393717,-1.90441238502779],[0.05335993244300154,-1.812375620081948]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_1","position":[-0.608020934303755,-1.7693324524869802,0.71338606911949],"aabb_xy":[[-0.6580209337439507,-1.8193003769712963],[-0.5580209348635594,-1.7193645280026637]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_2","position":[-0.12268837187977788,1.0772594036169694,0.71338606911949],"aabb_xy":[[-0.14055747963423335,1.063426495639758],[-0.10481926412532236,1.0910923115941802]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_3","position":[-0.420623967519873,1.5030825247876805,0.71338606911949],"aabb_xy":[[-0.43070567459844644,1.4230825268955658],[-0.4105422604412995,1.583082522679795]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_4","position":[-0.29581143197473503,-2.1708617353824953,0.71338606911949],"aabb_xy":[[-0.30637891163283404,-2.181406765495504],[-0.285243952316636,-2.1603167052694867]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_5","position":[-0.04416304019681583,1.7867876846027664,0.71338606911949],"aabb_xy":[[-0.06444734292021459,1.7665050594600573],[-0.02387873747341707,1.807070309745475]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_6","position":[-0.565349995600885,-1.2007625440896834,0.71338606911949],"aabb_xy":[[-0.5953175525107106,-1.2307625443875692],[-0.5353824386910593,-1.1707625437917977]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_7","position":[-0.36795255371696184,1.0970827337703772,0.71338606911949],"aabb_xy":[[-0.4029525529097801,1.0861156877727145],[-0.3329525545241436,1.1080497797680395]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_8","position":[0.4842352843688895,-0.1449406656933565,0.71338606911949],"aabb_xy":[[0.42023528725678383,-0.19397303548776712],[0.5482352814809952,-0.0959082958989459]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_9","position":[-0.5724034550787445,-1.4926195942894034,0.71338606911949],"aabb_xy":[[-0.6374034551130473,-1.5393202709697307],[-0.5074034550444418,-1.445918917609076]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_10","position":[0.060524966262064384,0.7472145470320188,0.71338606911949],"aabb_xy":[[-0.02916211004605107,0.6572145467775683],[0.15021204257017984,0.8372145472864694]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_11","position":[-0.5419497230289438,0.5646966824586741,0.71338606911949],"aabb_xy":[[-0.5920471870100175,0.5006966819488623],[-0.4918522590478702,0.6286966829684859]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_12","position":[-0.4033879439481052,-2.2300723307646937,0.71338606911949],"aabb_xy":[[-0.4485592617962742,-2.294072327909232],[-0.3582166260999362,-2.1660723336201553]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_13","position":[0.3634885092851807,-0.7888081576799679,0.71338606911949],"aabb_xy":[[0.3415798271458297,-0.8107088245000587],[0.38539719142453177,-0.7669074908598772]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_14","position":[-0.14655163968263718,0.16189628960775115,0.71338606911949],"aabb_xy":[[-0.1538128872530446,0.14910927934424167],[-0.13929039211222977,0.17468329987126063]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_15","position":[-0.14714293392502964,-1.8722883966840562,0.71338606911949],"aabb_xy":[[-0.15584089621574493,-1.8844133709915314],[-0.13844497163431435,-1.860163422376582]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_16","position":[-0.6814588827838247,-0.5750023798276289,0.71338606911949],"aabb_xy":[[-0.6908058903661198,-0.589306002045273],[-0.6721118752015294,-0.5606987576099849]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_17","position":[0.08616780637165733,-1.7151440265869753,0.71338606911949],"aabb_xy":[[0.0773657510626846,-1.722955352741904],[0.09496986168063003,-1.7073327004320458]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_18","position":[-0.5552962309912162,-1.0649607003091472,0.71338606911949],"aabb_xy":[[-0.6202962295482889,-1.0947132337230299],[-0.4902962324341432,-1.0352081668952646]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_19","position":[0.1387906307653839,-2.4365555266140597,0.71338606911949],"aabb_xy":[[0.08879062940449668,-2.4865334311894753],[0.18879063212627112,-2.386577622038644]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_20","position":[0.12736765347779977,-2.100352732662825,0.71338606911949],"aabb_xy":[[0.09277657062375456,-2.1653527329478557],[0.161958736331845,-2.0353527323777936]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_21","position":[-0.44513219242195967,-2.5619551634191136,0.71338606911949],"aabb_xy":[[-0.4676286138558237,-2.584455163225861],[-0.4226357709880955,-2.539455163612366]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_22","position":[0.30912800363004034,0.45466457323187104,0.71338606911949],"aabb_xy":[[0.30379042796403577,0.4296645723027312],[0.3144655792960449,0.47966457416101077]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_23","position":[-0.19825350432805028,-0.6859550995539354,0.71338606911949],"aabb_xy":[[-0.2622535065484573,-0.7303281836792237],[-0.13425350210764325,-0.6415820154286471]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_24","position":[-0.012318603522923244,0.9860546814241276,0.71338606911949],"aabb_xy":[[-0.06231787869135941,0.9360546801481804],[0.03768067164551292,1.0360546827000747]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_25","position":[0.1798311500333557,1.6009348833509578,0.71338606911949],"aabb_xy":[[0.17386461109261991,1.5949737386915939],[0.1857976889740915,1.6068960280103222]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_26","position":[-0.4953954412201488,1.6184553935775088,0.71338606911949],"aabb_xy":[[-0.5066404967907666,1.6072135958534135],[-0.48415038564953095,1.629697191301604]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_27","position":[0.07352643992857022,1.5062137731707375,0.71338606911949],"aabb_xy":[[0.06195745918163366,1.4812137730538057],[0.08509542067550681,1.5312137732876692]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_28","position":[-0.22470846554457652,-1.6871637257343335,0.71338606911949],"aabb_xy":[[-0.294708467676006,-1.709925691360029],[-0.15470846341314695,-1.6644017601086376]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_29","position":[-0.3082510819956667,0.6244423010656024,0.71338606911949],"aabb_xy":[[-0.3582510815720014,0.5744617221134964],[-0.258251082419332,0.6744228800177083]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6931428633449175,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/372.png","name":"372"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/372.png","name":"372"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5751.png","name":"5751"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3622.png","name":"3622"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2254.png","name":"2254"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6137.png","name":"6137"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":749.7183982650013,"rotation_z_degrees":41.260504119046786,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010132170610081875,0.011374021691847685,-0.014113558187995784]},{"name":"camera_2","offset_m":[0.005298412624605783,-0.0171269298883076,0.002493903636334404]},{"name":"camera_3","offset_m":[0.0030862390877367737,0.0043113513512734285,-0.016664737957347537]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018055270763722361,-0.0007531893936713781,0.00118955794881813],"end_effector_yaw_offset_degrees":0.9115915059207482},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012271935064204827,3.929482406512218e-05,3.4792738810191914e-05],"end_effector_yaw_offset_degrees":0.6209739428675101},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001515757013972904,0.0018304605342349678,0.0005015992196218504],"end_effector_yaw_offset_degrees":0.28458782563485263}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00486302713744664,-0.004345058115082658],"position_m":[0.27403697286255335,-0.12204505811508266,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006156647987740817,0.0030808303059279138],"position_m":[0.22588433520122592,-0.4061191696940721,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004097031107715868,-0.0029307770658268495],"position_m":[0.3566970311077159,0.06306922293417315,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003019821766662853,-0.004601414487628575],"position_m":[0.3452198217666629,0.31929858551237145,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f730c573b9338f6476d219de82cfe458bc4af837083547548c2667dd272f158e","episode_index":43,"episode_name":"episode_0043"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0043.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_372/tex_ceiling_textures_6137/tex_floor_textures_2254/tex_table_textures_5751/tex_wall_textures_3622","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":935324376287239020,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":935324376287239020,"visual_seed":935324376287239020,"scene_id":"lab_003","finished_at":"2026-09-04T01:30:18"} +{"episode_id":"ep_000044","started_at":"2026-09-04T01:30:21","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_0","position":[-0.16462894932517536,-1.819202369891891,0.71338606911949],"aabb_xy":[[-0.1951131994522055,-1.8692023696733866],[-0.1341446991981452,-1.7692023701103947]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_1","position":[0.39568589942052523,-0.3603666361390059,0.71338606911949],"aabb_xy":[[0.38697193037059063,-0.38286663679819405],[0.4043998684704596,-0.3378666354798176]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_2","position":[0.7167549663184702,1.1743515447097184,0.71338606911949],"aabb_xy":[[0.7094937187480628,1.1615645344462089],[0.7240162138888777,1.1871385549732278]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_3","position":[-0.0977247861212105,-1.6015980789353195,0.71338606911949],"aabb_xy":[[-0.13218726413429827,-1.6082617561182424],[-0.06326230810812271,-1.5949344017523965]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_4","position":[-0.47142187852330697,-0.7871125828354022,0.71338606911949],"aabb_xy":[[-0.4977107028437476,-0.8133840164900534],[-0.44513305420286625,-0.760841149180751]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_5","position":[0.5431546008173387,-0.2578803035858517,0.71338606911949],"aabb_xy":[[0.5021366574309678,-0.307880304216809],[0.5841725442037096,-0.20788030295489435]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_6","position":[0.4247831568549991,-1.5483009848053924,0.71338606911949],"aabb_xy":[[0.36478315521207727,-1.6003011340973368],[0.484783158497921,-1.4963008355134484]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_7","position":[0.00437836672676728,-0.8927911582046417,0.71338606911949],"aabb_xy":[[-0.03241626639813899,-0.929697033301224],[0.04117299985167355,-0.8558852831080594]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_8","position":[-0.6308103629017029,-0.6723989737459353,0.71338606911949],"aabb_xy":[[-0.6361479385677076,-0.6973989746750751],[-0.6254727872356984,-0.6473989728167955]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_9","position":[0.5821522633222362,-2.3226045887035283,0.71338606911949],"aabb_xy":[[0.5645739611332894,-2.3401790782776337],[0.5997305655111831,-2.3050300991294237]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_10","position":[-0.39897903908774335,0.2864319018089492,0.71338606911949],"aabb_xy":[[-0.40981951731425825,0.26924562051830037],[-0.38813856086122844,0.303618183099598]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_11","position":[0.6419576571980965,0.32872143846983537,0.71338606911949],"aabb_xy":[[0.6200679096091557,0.23872144118058627],[0.6638474047870373,0.4187214357590845]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_12","position":[0.3469694626832698,0.5034101424338511,0.71338606911949],"aabb_xy":[[0.3298673847249016,0.48630333690258143],[0.36407154064163794,0.5205169479651209]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_13","position":[0.6245193090579684,-0.7344389075048834,0.71338606911949],"aabb_xy":[[0.5445193120949292,-0.8115145491486567],[0.7045193060210075,-0.6573632658611098]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_14","position":[0.42090446311871577,1.1106688361997334,0.71338606911949],"aabb_xy":[[0.3659089852980563,1.0556688347658263],[0.4758999409393751,1.1656688376336402]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_15","position":[-0.17469837669398214,1.3488523422433865,0.71338606911949],"aabb_xy":[[-0.22969837489572698,1.3083303756169489],[-0.11969837849223731,1.389374308869824]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_16","position":[-0.6229317436170345,-1.309774948954355,0.71338606911949],"aabb_xy":[[-0.6454317436271828,-1.3238711685939581],[-0.6004317436068862,-1.2956787293147516]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_17","position":[0.6204231041552872,-0.880371522931306,0.71338606911949],"aabb_xy":[[0.6029231039102377,-0.8978713107708728],[0.6379231044003365,-0.8628717350917391]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_18","position":[0.5254763837954015,-1.9329266041606668,0.71338606911949],"aabb_xy":[[0.5161827655582508,-1.9704266026488002],[0.534770002032552,-1.8954266056725324]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_19","position":[0.4504324565619999,-2.1545679208260835,0.71338606911949],"aabb_xy":[[0.3704386329834417,-2.234567923418925],[0.5304262801405581,-2.074567918233242]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_20","position":[-0.029099318595399937,-1.160183288035129,0.71338606911949],"aabb_xy":[[-0.07909931995628716,-1.2101611926105447],[0.020900682765487278,-1.1102053834597134]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_21","position":[0.5467760882828607,-1.399878923349732,0.71338606911949],"aabb_xy":[[0.48277608623312873,-1.43997340643904],[0.6107760903325927,-1.359784440260424]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_22","position":[-0.3539213281275385,-0.4698898753831946,0.71338606911949],"aabb_xy":[[-0.3876968873182314,-0.48392837059635957],[-0.32014576893684543,-0.4558513801700295]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_23","position":[-0.3626568439605885,-0.5515765784037092,0.71338606911949],"aabb_xy":[[-0.37422582470752513,-0.5765765785206409],[-0.351087863213652,-0.5265765782867775]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_24","position":[-0.10456956655509309,-1.3874661830077042,0.71338606911949],"aabb_xy":[[-0.12224519714369142,-1.4051463992871067],[-0.08689393596649475,-1.3697859667283012]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6935788483149385,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7342.png","name":"7342"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7342.png","name":"7342"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7759.png","name":"7759"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2817.png","name":"2817"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9720.png","name":"9720"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1147.png","name":"1147"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":838.8966141328192,"rotation_z_degrees":29.137208952517845,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016954015548741038,-0.006088216545036867,0.008595552399812037]},{"name":"camera_2","offset_m":[-0.00042653770565427226,-0.007247422017197854,0.009331112313393643]},{"name":"camera_3","offset_m":[-0.014912337872204754,0.018835512167603204,-0.018783398331150253]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0003042524397160512,0.00012399393906485602,-0.000970129904627675],"end_effector_yaw_offset_degrees":-0.9473105057676754},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0019354070183273363,-0.0007023176978744078,0.0007307686699694043],"end_effector_yaw_offset_degrees":0.9710146701483211},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015938361533936085,0.0009831693855990148,-0.00027799535291085056],"end_effector_yaw_offset_degrees":0.3322699269819027}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-8.788222883857923e-05,0.0017912925729804963],"position_m":[0.2788121177711614,-0.1159087074270195,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001969269629802337,0.002288068189326928],"position_m":[0.22453073037019766,-0.4069119318106731,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00024678125071095607,0.0024912235774368144],"position_m":[0.35235321874928904,0.06849122357743681,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00021604220083302952,0.002485111631325262],"position_m":[0.34198395779916696,0.3263851116313253,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6ba83568e14291f99fecb233d3eaec53c4d425a827340889aff386a63db1a37f","episode_index":44,"episode_name":"episode_0044"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0044.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_7342/tex_ceiling_textures_1147/tex_floor_textures_9720/tex_table_textures_7759/tex_wall_textures_2817","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":5318221555261156843,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":5318221555261156843,"visual_seed":5318221555261156843,"scene_id":"lab_003","finished_at":"2026-09-04T01:33:32"} +{"episode_id":"ep_000045","started_at":"2026-09-04T01:33:36","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_0","position":[-0.43622656151789,-0.6433791779772982,0.71338606911949],"aabb_xy":[[-0.5162265617914968,-0.7163287258030149],[-0.356226561244283,-0.5704296301515814]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_1","position":[-0.2271804046580187,-0.5383336867182793,0.71338606911949],"aabb_xy":[[-0.2524012415178583,-0.5635574375711659],[-0.201959567798179,-0.5131099358653924]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_2","position":[0.6361937879261037,1.365679436344351,0.71338606911949],"aabb_xy":[[0.5721937906237573,1.3213130093764942],[0.7001937852284501,1.4100458633122077]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_3","position":[-0.07505255179907044,0.6274184006017536,0.71338606911949],"aabb_xy":[[-0.08439955938136567,0.6131147783841095],[-0.06570554421677521,0.6417220228193976]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_4","position":[0.06625467344618352,1.4082324084518532,0.71338606911949],"aabb_xy":[[0.028754673629149963,1.4035941971407113],[0.10375467326321708,1.412870619762995]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_5","position":[0.08609397505120453,-1.0011407925493996,0.71338606911949],"aabb_xy":[[0.006093971793361561,-1.0811373003413836],[0.16609397830904749,-0.9211442847574156]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_6","position":[0.4330770023866828,-0.41865789870988435,0.71338606911949],"aabb_xy":[[0.4130185907734425,-0.4387229856190418],[0.4531354139999231,-0.39859281180072675]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_7","position":[-0.5122324479968663,-0.2796039485260491,0.71338606911949],"aabb_xy":[[-0.5762324483744,-0.3293492153768613],[-0.4482324476193328,-0.22985868167523676]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_8","position":[0.2585493040190079,1.2088784467538298,0.71338606911949],"aabb_xy":[[0.22354930570831238,1.201163431830284],[0.2935493023297033,1.2165934616773753]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_9","position":[-0.3471136401855286,1.1315844388833,0.71338606911949],"aabb_xy":[[-0.3971084731134702,1.0815844399880565],[-0.297118807257587,1.1815844377785436]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_10","position":[-0.5699222814094549,-0.07222437921789604,0.71338606911949],"aabb_xy":[[-0.6199222824285902,-0.108690594955724],[-0.5199222803903196,-0.03575816348006811]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_11","position":[-0.6790591350569097,1.6090895805358811,0.71338606911949],"aabb_xy":[[-0.685153762945028,1.6005201859842124],[-0.6729645071687914,1.6176589750875499]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_12","position":[0.6801033911610268,0.9234501168770692,0.71338606911949],"aabb_xy":[[0.6721099013657449,0.9154519849365937],[0.6880968809563089,0.931448248817545]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_13","position":[0.31804950880349425,-1.5809248750050218,0.71338606911949],"aabb_xy":[[0.26807209193824066,-1.6309248764942699],[0.36802692566874784,-1.5309248735157728]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_14","position":[-0.3311408235574973,-1.5027946383591975,0.71338606911949],"aabb_xy":[[-0.3510318634378376,-1.5154504496438945],[-0.3112497836771571,-1.4901388270745006]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_15","position":[-0.22363306077635398,-1.6650674002675276,0.71338606911949],"aabb_xy":[[-0.2586330607528498,-1.6745320163151443],[-0.18863306079985814,-1.655602784219911]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_16","position":[0.3075492454414839,-1.0257646157096032,0.71338606911949],"aabb_xy":[[0.3022167307868709,-1.0310889439548387],[0.31288176009609686,-1.0204402874643677]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_17","position":[0.1834313964891925,-1.3527171562905496,0.71338606911949],"aabb_xy":[[0.13345833095667703,-1.4027171561030827],[0.23340446202170798,-1.302717156478017]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_18","position":[-0.577302692904294,1.2353947028337857,0.71338606911949],"aabb_xy":[[-0.6373026934121467,1.1785479691478644],[-0.5173026923964409,1.292241436519707]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_19","position":[-0.26231439505340565,0.44446067668354106,0.71338606911949],"aabb_xy":[[-0.2966306722280236,0.39446067671036333],[-0.2279981178787877,0.4944606766567188]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_20","position":[-0.18218293024857934,-2.5533602211160744,0.71338606911949],"aabb_xy":[[-0.18922438119932697,-2.5603869728538693],[-0.17514147929783178,-2.5463334693782804]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_21","position":[-0.543098854557309,-2.417183060888396,0.71338606911949],"aabb_xy":[[-0.5930721485605693,-2.4671830614429435],[-0.49312556055404844,-2.367183060333849]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_22","position":[-0.14011915911148043,-1.8824463200594437,0.71338606911949],"aabb_xy":[[-0.16876849147189663,-1.9110918793365193],[-0.11146982675106418,-1.8538007607823677]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_23","position":[-0.6657453095731869,-1.4719587828356793,0.71338606911949],"aabb_xy":[[-0.677617392584688,-1.5569587825293296],[-0.6538732265616858,-1.386958783142029]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_24","position":[-0.2539240234079891,1.7178526725781835,0.71338606911949],"aabb_xy":[[-0.3089195012286484,1.6628526711442764],[-0.19892854558732964,1.7728526740120902]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6910762840470959,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9984.png","name":"9984"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9984.png","name":"9984"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2470.png","name":"2470"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6085.png","name":"6085"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8029.png","name":"8029"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5216.png","name":"5216"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":549.3365704196259,"rotation_z_degrees":233.98780745665798,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015713566714285775,0.017223585408840354,0.0074319064033734825]},{"name":"camera_2","offset_m":[0.00674829648457493,0.00447825759155919,0.01797150195600505]},{"name":"camera_3","offset_m":[0.005437032316023514,0.01371037257930333,-0.005661452414510899]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0007558662396920158,-0.0007070734644287957,-0.001948915772721807],"end_effector_yaw_offset_degrees":0.6465969534626728},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00022645148311911103,0.001826537862204377,0.0009589689848174313],"end_effector_yaw_offset_degrees":-0.5938013090748249},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008735307578430183,-0.0006032886429421206,-0.0012504260793912924],"end_effector_yaw_offset_degrees":-0.689068466832486}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0038135125174939563,-0.0034559891262376],"position_m":[0.28271351251749394,-0.1211559891262376,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004211314124025748,-0.0012265597013200137],"position_m":[0.23071131412402576,-0.41042655970132,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004208298746278744,-0.0030045718014755952],"position_m":[0.34839170125372126,0.06299542819852441,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00028208817879102604,-0.003818590214848817],"position_m":[0.34248208817879106,0.3200814097851512,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0ec39292038082f4230b2a0e94c7f86d266f18319995877664410611d7b99934","episode_index":45,"episode_name":"episode_0045"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0045.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_9984/tex_ceiling_textures_5216/tex_floor_textures_8029/tex_table_textures_2470/tex_wall_textures_6085","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":5295025269450020357,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":5295025269450020357,"visual_seed":5295025269450020357,"scene_id":"lab_003","finished_at":"2026-09-04T01:36:30"} +{"episode_id":"ep_000046","started_at":"2026-09-04T01:36:32","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_0","position":[0.3111970730723259,-1.9978899120500044,0.71338606911949],"aabb_xy":[[0.2929912494110783,-2.0089153126319963],[0.32940289673357365,-1.9868645114680132]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_1","position":[-0.6290343813200341,0.552430756204839,0.71338606911949],"aabb_xy":[[-0.6930343832323764,0.4965196069468286],[-0.5650343794076917,0.6083419054628495]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_2","position":[0.6720848258601413,-1.6991129017384745,0.71338606911949],"aabb_xy":[[0.6676541965053012,-1.704561273473157],[0.6765154552149816,-1.693664530003792]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_3","position":[-0.07318468892395413,-2.4047751594749154,0.71338606911949],"aabb_xy":[[-0.13081515781122494,-2.4647751584016255],[-0.015554220036683258,-2.3447751605482043]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_4","position":[-0.2900063301905736,-2.1163012518649893,0.71338606911949],"aabb_xy":[[-0.3268568781275612,-2.153801252688023],[-0.253155782253586,-2.0788012510419556]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_5","position":[-0.27130352779097905,1.3796583682795864,0.71338606911949],"aabb_xy":[[-0.2790067184650561,1.371948997580848],[-0.263600337116902,1.3873677389783243]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_6","position":[0.5036950734382111,1.742495133177966,0.71338606911949],"aabb_xy":[[0.43869507340390834,1.6957944564976386],[0.5686950734725138,1.7891958098582932]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_7","position":[-0.43823732396447124,1.2483918972697112,0.71338606911949],"aabb_xy":[[-0.508237327356033,1.2130761235662801],[-0.36823732057290914,1.2837076709731419]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_8","position":[0.6399268418564967,1.103395953270366,0.71338606911949],"aabb_xy":[[0.6180181597171456,1.0814952864502752],[0.6618355239958477,1.1252966200904566]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_9","position":[-0.36045449015800585,-0.5914205464114302,0.71338606911949],"aabb_xy":[[-0.410453765326442,-0.6414205476873773],[-0.3104552149895697,-0.541420545135483]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_10","position":[0.5398713661732863,-1.574587860749684,0.71338606911949],"aabb_xy":[[0.45987136401052375,-1.6545430443758276],[0.6198713683360487,-1.4946326771235403]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_11","position":[-0.6295621581898099,-1.2101750784632648,0.71338606911949],"aabb_xy":[[-0.6795621591403426,-1.241724225466786],[-0.579562157239277,-1.1786259314597431]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_12","position":[-0.35709777010885496,-1.412618082044388,0.71338606911949],"aabb_xy":[[-0.3662576490527315,-1.4191493000879252],[-0.3479378911649783,-1.406086864000851]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_13","position":[-0.5969139515381677,0.12863649768001295,0.71338606911949],"aabb_xy":[[-0.6139240488282184,0.112502009181739],[-0.5799038542481171,0.14477098617828685]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_14","position":[-0.41681885430236687,-1.8810350916395837,0.71338606911949],"aabb_xy":[[-0.49681885126540604,-1.9581107332833572],[-0.3368188573393277,-1.8039594499958103]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_15","position":[0.5574850990072344,-0.7851943375219075,0.71338606911949],"aabb_xy":[[0.5023598933776435,-0.8451943389631945],[0.6126103046368251,-0.7251943360806202]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_16","position":[-0.6318550590619387,-0.23771367797744425,0.71338606911949],"aabb_xy":[[-0.6813354802758975,-0.3017136758902961],[-0.5823746378479799,-0.17371368006459245]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_17","position":[0.5912774633781805,0.7926051585893243,0.71338606911949],"aabb_xy":[[0.5212774607415942,0.7725002935934588],[0.6612774660147669,0.8127100235851898]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_18","position":[-0.017810380910756818,-0.9825481437137784,0.71338606911949],"aabb_xy":[[-0.06308899579190608,-1.0465481430619619],[0.027468233970392445,-0.9185481443655946]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_19","position":[-0.3154938842822912,-0.49058630429797123,0.71338606911949],"aabb_xy":[[-0.3191971456114301,-0.494288322606689],[-0.3117906229531523,-0.48688428598925326]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_20","position":[0.6039281570812651,-0.4920799230566728,0.71338606911949],"aabb_xy":[[0.5959341685035616,-0.5000800031517632],[0.6119221456589684,-0.4840798429615824]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_21","position":[-0.6132650977451908,1.2896738376140235,0.71338606911949],"aabb_xy":[[-0.6545139087751053,1.234673838101806],[-0.5720162867152758,1.344673837126241]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_22","position":[-0.13127656468290194,-2.0940226613053188,0.71338606911949],"aabb_xy":[[-0.13931992460885712,-2.179022662400685],[-0.12323320475694677,-2.0090226602099523]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_23","position":[0.1329594052762062,-0.9205754331326705,0.71338606911949],"aabb_xy":[[0.09545940448421075,-0.9269432740908606],[0.17045940606820165,-0.9142075921744804]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_24","position":[-0.0035141363852581042,-1.5776796043636323,0.71338606911949],"aabb_xy":[[-0.021014069819241477,-1.5951796042838666],[0.013985797048725268,-1.5601796044433975]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_25","position":[-0.5864136561888101,1.0271343728695728,0.71338606911949],"aabb_xy":[[-0.5995649021600996,1.0021343731128864],[-0.5732624102175209,1.0521343726262595]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_26","position":[-0.28144028357330336,1.1415088893681142,0.71338606911949],"aabb_xy":[[-0.2901542526232378,1.1190088887089256],[-0.2727263145233688,1.164008890027302]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_27","position":[-0.33305845428099173,0.8465112436792297,0.71338606911949],"aabb_xy":[[-0.3376935694332251,0.8426439086020808],[-0.32842333912875826,0.8503785787563781]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_28","position":[0.5299712362008093,-1.9577649781648798,0.71338606911949],"aabb_xy":[[0.4956549590261914,-2.0077649781380575],[0.5642875133754273,-1.9077649781917019]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_29","position":[0.49356782353222717,0.1307298569202784,0.71338606911949],"aabb_xy":[[0.4295678271049053,0.08356023309818197],[0.5575678199595491,0.17789948074237485]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_30","position":[0.36135233189978133,1.1376009902600352,0.71338606911949],"aabb_xy":[[0.34392161682077477,1.1203288755961842],[0.3787830469787878,1.1548731049238858]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_31","position":[0.4526046531589103,1.3864141941008512,0.71338606911949],"aabb_xy":[[0.4301398831875051,1.3639141932219905],[0.47506942313031536,1.4089141949797115]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6906458371420777,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8019.png","name":"8019"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8019.png","name":"8019"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9809.png","name":"9809"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4123.png","name":"4123"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8487.png","name":"8487"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2536.png","name":"2536"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":550.0186924452137,"rotation_z_degrees":150.64025163936404,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0007312564291905889,0.010667153661856235,-0.0011390049595475828]},{"name":"camera_2","offset_m":[0.014033057451402053,-0.004186525858720182,0.015483596390317971]},{"name":"camera_3","offset_m":[0.016643919634838012,0.006425863179049109,0.01045684634583574]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017897391694311204,0.000591878788073028,-0.0016242817455132987],"end_effector_yaw_offset_degrees":-0.3446489534869641},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016443881561430053,-0.0019597519697175637,-0.0016337443588151058],"end_effector_yaw_offset_degrees":-0.5403161989318561},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016907302502216634,0.00012514365624216768,0.001536783939750902],"end_effector_yaw_offset_degrees":0.8937595933314044}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003387587163365827,-0.004909549780556351],"position_m":[0.27551241283663414,-0.12260954978055635,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004935959346460084,0.0029185814716217026],"position_m":[0.22156404065353993,-0.4062814185283783,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0042456080447134765,-0.0037755280056479337],"position_m":[0.3568456080447135,0.06222447199435207,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0001299546851291234,-0.003959507319978503],"position_m":[0.3420700453148709,0.3199404926800215,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"269955a3045c241cc2eefc39e2c0ed19d51ae6bf6e163b73dc1d85170dbc4213","episode_index":46,"episode_name":"episode_0046"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0046.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_8019/tex_ceiling_textures_2536/tex_floor_textures_8487/tex_table_textures_9809/tex_wall_textures_4123","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":3821928640866475892,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":3821928640866475892,"visual_seed":3821928640866475892,"scene_id":"lab_003","finished_at":"2026-09-04T01:39:15"} +{"episode_id":"ep_000047","started_at":"2026-09-04T01:39:18","dimensions":{"distractor":{"count":26,"items":[{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_0","position":[-0.1717022595960177,0.2833953914149716,0.71338606911949],"aabb_xy":[[-0.1832712403429543,0.2583953912980399],[-0.16013327884908116,0.3083953915319033]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_1","position":[0.03391585034383471,-0.7739656320526245,0.71338606911949],"aabb_xy":[[-0.003584149761758248,-0.7807877939056055],[0.07141585044942765,-0.7671434701996432]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_2","position":[-0.23603408894808198,-1.0621066301217164,0.71338606911949],"aabb_xy":[[-0.2506774945021149,-1.0767653497785004],[-0.22139068339404894,-1.047447910464932]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_3","position":[0.4296632583930602,0.6351818937516334,0.71338606911949],"aabb_xy":[[0.3921632582211882,0.6024811583687261],[0.46716325856493207,0.6678826291345404]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_4","position":[-0.44761586523779884,1.4009143972210856,0.71338606911949],"aabb_xy":[[-0.5176158670465443,1.3795606284568984],[-0.3776158634290534,1.4222681659852732]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_5","position":[-0.34798228600085,1.5871508075327312,0.71338606911949],"aabb_xy":[[-0.3853135625260926,1.5524977527378787],[-0.3106510094756074,1.6218038623275832]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_6","position":[0.24537232151811472,0.8043667797153278,0.71338606911949],"aabb_xy":[[0.23192579488407142,0.7908969280622365],[0.25881884815215805,0.817836631368419]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_7","position":[0.1441561176819004,-2.4687753605754654,0.71338606911949],"aabb_xy":[[0.11631108090129327,-2.4995598593137776],[0.17200115446250752,-2.437990861837154]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_8","position":[0.03832622013838771,-1.8698502876194851,0.71338606911949],"aabb_xy":[[-0.04167378033182824,-1.8781609952338336],[0.11832622060860368,-1.861539580005137]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_9","position":[-0.33241952543152326,-0.482018200777369,0.71338606911949],"aabb_xy":[[-0.39641952570550143,-0.532084300974657],[-0.26841952515754497,-0.4319521005800811]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_10","position":[-0.576324465321958,0.9172025478129813,0.71338606911949],"aabb_xy":[[-0.6262071621996543,0.8672025485667066],[-0.5264417684442619,0.9672025470592561]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_11","position":[-0.5715574147854208,-1.922933421612873,0.71338606911949],"aabb_xy":[[-0.6515574119449961,-1.9344810225706903],[-0.4915574176258455,-1.9113858206550562]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_12","position":[-0.15221671965756067,-2.3324159252042227,0.71338606911949],"aabb_xy":[[-0.1785055439780013,-2.3586873588588735],[-0.12592789533711998,-2.306144491549571]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_13","position":[0.30961675858832116,-1.711482651834974,0.71338606911949],"aabb_xy":[[0.24461676070667343,-1.762606315541515],[0.374616756469969,-1.6603589881284333]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_14","position":[0.2748597342227803,-0.9825704326853113,0.71338606911949],"aabb_xy":[[0.2398597328712986,-1.002930168642132],[0.30985973557426205,-0.9622106967284905]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_15","position":[0.2873337421399007,-1.2653868727562985,0.71338606911949],"aabb_xy":[[0.22233374103395742,-1.290352245824427],[0.352333743245844,-1.2404214996881704]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_16","position":[0.5938448675121244,0.039731521685758775,0.71338606911949],"aabb_xy":[[0.5845512492749738,0.002231523197624867],[0.603138485749275,0.07723152017389268]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_17","position":[-0.4675678223357286,0.46097909766777745,0.71338606911949],"aabb_xy":[[-0.47797938101621223,0.4556333643318788],[-0.4571562636552448,0.4663248310036758]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_18","position":[-0.2158115025733604,1.3179545363383265,0.71338606911949],"aabb_xy":[[-0.26579573828153763,1.267954537524831],[-0.16582726686518318,1.367954535151822]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_19","position":[-0.5479974179017744,0.34837326601413654,0.71338606911949],"aabb_xy":[[-0.5709131307868244,0.32546896887771304],[-0.5250817050167246,0.37127756315056004]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_20","position":[0.6136960279699646,-1.315953143637318,0.71338606911949],"aabb_xy":[[0.5337022043914064,-1.3959531462301595],[0.6936898515485228,-1.2359531410444764]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_21","position":[0.2152930702013337,1.6395599943137102,0.71338606911949],"aabb_xy":[[0.13529306693732057,1.625999962004797],[0.29529307346534683,1.6531200266226236]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_22","position":[-0.638090633586051,-0.12168342443747004,0.71338606911949],"aabb_xy":[[-0.679395176649787,-0.18568342400558713],[-0.596786090522315,-0.05768342486935295]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_23","position":[0.4540866064519009,-2.0135581940622336,0.71338606911949],"aabb_xy":[[0.40409349434270914,-2.0635581947364297],[0.5040797185610929,-1.9635581933880384]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_24","position":[-0.20144402926256932,0.8929392340871094,0.71338606911949],"aabb_xy":[[-0.25154149324364294,0.8289392335772976],[-0.1513465652814957,0.9569392345969212]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_25","position":[-0.3067275104670165,-1.9050835271026094,0.71338606911949],"aabb_xy":[[-0.31729499012511553,-1.9156285572156182],[-0.2961600308089175,-1.894538496989601]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6938146336977733,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7668.png","name":"7668"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7668.png","name":"7668"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4761.png","name":"4761"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3333.png","name":"3333"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9266.png","name":"9266"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1872.png","name":"1872"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":626.4293688929664,"rotation_z_degrees":15.176529914299422,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009646567740350944,0.007693231991637645,-0.0027163669582523017]},{"name":"camera_2","offset_m":[-0.011931873316452202,-0.006290689387660597,0.017504329115013924]},{"name":"camera_3","offset_m":[0.01737353246247032,-0.0074385187525715275,-0.009260788779219382]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0001708648050062606,0.0009714941389774722,-0.0009921535281649497],"end_effector_yaw_offset_degrees":0.40891085511168535},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0004976115849564,-0.0014423289452502215,0.001143378178007897],"end_effector_yaw_offset_degrees":-0.5874667086357812},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0013490692588165505,0.0011659817682135093,9.093058386020099e-05],"end_effector_yaw_offset_degrees":-0.8049840281664695}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0015527300401191857,0.0009502254709855629],"position_m":[0.2773472699598808,-0.11674977452901443,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004699560622381633,-0.002763710600820144],"position_m":[0.23119956062238164,-0.41196371060082015,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0010244038776813357,0.004840546097518504],"position_m":[0.35362440387768135,0.07084054609751851,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0026082595096740017,-0.002357566129279665],"position_m":[0.34480825950967403,0.32154243387072035,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b313f96a552de46cedfdef9b44cdbca3aceed88a769cf75555499950855abdec","episode_index":47,"episode_name":"episode_0047"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0047.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_7668/tex_ceiling_textures_1872/tex_floor_textures_9266/tex_table_textures_4761/tex_wall_textures_3333","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":3559583877494480143,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":3559583877494480143,"visual_seed":3559583877494480143,"scene_id":"lab_003","finished_at":"2026-09-04T01:42:09"} +{"episode_id":"ep_000048","started_at":"2026-09-04T01:42:12","dimensions":{"distractor":{"count":30,"items":[{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_0","position":[-0.19480321659201127,-1.7382087605200487,0.71338606911949],"aabb_xy":[[-0.2748032151793307,-1.8175243624582094],[-0.11480321800469188,-1.6588931585818876]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_1","position":[0.49790899673816846,-1.9034456012571987,0.71338606911949],"aabb_xy":[[0.4479315798729149,-1.953445602746447],[0.547886413603422,-1.85344559976795]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_2","position":[0.18028740273562804,0.7294607350423932,0.71338606911949],"aabb_xy":[[0.11628740247515722,0.6844519356894653],[0.24428740299609883,0.7744695343953213]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_3","position":[0.18593089146199926,-1.0279653101715767,0.71338606911949],"aabb_xy":[[0.14374647730116855,-1.091965310448788],[0.22811530562283003,-0.9639653098943657]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_4","position":[0.44499561833175205,-0.4016906002510545,0.71338606911949],"aabb_xy":[[0.4074956180395773,-0.40573207565165814],[0.4824956186239269,-0.3976491248504509]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_5","position":[-0.5117320160440344,-1.4359067038861033,0.71338606911949],"aabb_xy":[[-0.5817320181754638,-1.4586686695117987],[-0.44173201391260475,-1.4131447382604074]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_6","position":[0.04470571578525162,-1.743575829322777,0.71338606911949],"aabb_xy":[[0.028643788326733973,-1.8285758311353686],[0.06076764324376926,-1.658575827510185]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_7","position":[0.5566323695624515,1.4333588275605398,0.71338606911949],"aabb_xy":[[0.5511744239254315,1.3533588242528807],[0.5620903151994716,1.513358830868199]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_8","position":[-0.5911105653751401,0.5926751221383588,0.71338606911949],"aabb_xy":[[-0.6286105657233677,0.5808837265572752],[-0.5536105650269122,0.6044665177194423]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_9","position":[-0.24799433251749248,1.7396192980973626,0.71338606911949],"aabb_xy":[[-0.3119943344298348,1.6837081488393522],[-0.18399433060515016,1.795530447355373]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_10","position":[0.14939238529024834,-1.9957722000347364,0.71338606911949],"aabb_xy":[[0.1081435742603336,-2.0507721995469534],[0.19064119632016305,-1.9407722005225188]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_11","position":[0.5705585894726193,1.5722298745109087,0.71338606911949],"aabb_xy":[[0.553058590338252,1.5623502474733206],[0.5880585886069863,1.5821095015484963]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_12","position":[0.3532397308939006,0.9282223069166173,0.71338606911949],"aabb_xy":[[0.33073973137019314,0.9057263594659964],[0.37573973041760794,0.950718254367238]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_13","position":[0.4984260830051319,-2.498750790533233,0.71338606911949],"aabb_xy":[[0.44845301747261646,-2.5487507903457662],[0.5483991485376474,-2.4487507907207005]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_14","position":[-0.16105517649470613,-2.3453063650914605,0.71338606911949],"aabb_xy":[[-0.19102273340453177,-2.3753063653893465],[-0.13108761958488044,-2.3153063647935745]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_15","position":[0.6922590741764494,-0.9248374555847347,0.71338606911949],"aabb_xy":[[0.6850153081302041,-1.004837453788337],[0.6995028402226947,-0.8448374573811324]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_16","position":[-0.3462374528044119,-1.9562644666050293,0.71338606911949],"aabb_xy":[[-0.35035340291648454,-1.9603800216378748],[-0.3421215026923392,-1.9521489115721837]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_17","position":[0.6839046308120837,-0.4815311002725835,0.71338606911949],"aabb_xy":[[0.6494422834139417,-0.516024982670406],[0.7183669782102253,-0.4470372178747607]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_18","position":[-0.20528085475574337,0.5881605242066423,0.71338606911949],"aabb_xy":[[-0.2427808549276153,0.5554597888237351],[-0.16778085458387143,0.6208612595895495]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_19","position":[-0.6238035026416937,-0.8287673986396669,0.71338606911949],"aabb_xy":[[-0.6838035031495465,-0.8856141323255882],[-0.5638035021338407,-0.7719206649537456]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_20","position":[0.5957744547164094,-2.294497577443562,0.71338606911949],"aabb_xy":[[0.5623342795203896,-2.327941203274492],[0.6292146299124288,-2.2610539516126313]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_21","position":[-0.5835825235244005,1.4372762633811198,0.71338606911949],"aabb_xy":[[-0.663582525687163,1.357321079754976],[-0.5035825213616381,1.5172314470072632]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_22","position":[-0.48931684272905385,0.45851870474736467,0.71338606911949],"aabb_xy":[[-0.5364462217308894,0.39451870370296266],[-0.4421874637272181,0.5225187057917666]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_23","position":[0.3559664331853598,-2.3784494730296446,0.71338606911949],"aabb_xy":[[0.3235047323034323,-2.4085823051445465],[0.3884281340672872,-2.348316640914741]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_24","position":[-0.4570780716251122,-0.18389034868400733,0.71338606911949],"aabb_xy":[[-0.4747537022137105,-0.20157056496341008],[-0.4394024410365138,-0.16621013240460458]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_25","position":[0.3855286816687129,1.2002738648780533,0.71338606911949],"aabb_xy":[[0.3205286807115857,1.1483256529443475],[0.4505286826258401,1.2522220768117587]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_26","position":[-0.562661199251744,-1.5139221140155386,0.71338606911949],"aabb_xy":[[-0.5773046048057768,-1.5285808336723226],[-0.5480177936977109,-1.499263394358754]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_27","position":[-0.04018557435965853,-2.164597327031546,0.71338606911949],"aabb_xy":[[-0.10418557640939052,-2.204691810120854],[0.02381442769007347,-2.124502843942238]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_28","position":[0.15635122019849756,1.7307088109819673,0.71338606911949],"aabb_xy":[[0.12205430918075688,1.6964119247720255],[0.19064813121623814,1.7650056971919081]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_29","position":[0.40595243432239125,-0.5356142278926295,0.71338606911949],"aabb_xy":[[0.34595243447582447,-0.5924328500856682],[0.46595243416895804,-0.4787956056995908]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6872625947990568,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/283.png","name":"283"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/283.png","name":"283"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3296.png","name":"3296"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4112.png","name":"4112"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/428.png","name":"428"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1817.png","name":"1817"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":830.6243281197007,"rotation_z_degrees":20.156404512124467,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0073557011041441404,-0.006271918002248102,0.0006236211370645103]},{"name":"camera_2","offset_m":[-0.002707038782773282,-0.009569577595406052,-0.008362363988965057]},{"name":"camera_3","offset_m":[-0.016605516038136824,0.0026797678701837857,0.015246088276034239]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00031382461210013044,0.00022538766884482985,0.0017842132920834314],"end_effector_yaw_offset_degrees":-0.6752196638136545},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.000843654052167592,-0.0017420507652182527,0.00019144016983436204],"end_effector_yaw_offset_degrees":0.2149485792392103},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001802948842569593,0.0016840729006502271,-0.0010241160494595287],"end_effector_yaw_offset_degrees":0.6025849705299462}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004369507663066926,0.0027794687520135046],"position_m":[0.27453049233693305,-0.1149205312479865,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00014019553763088347,0.004325811710335828],"position_m":[0.2263598044623691,-0.4048741882896642,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[6.5065841743172995e-06,0.004005671395776358],"position_m":[0.35260650658417436,0.07000567139577636,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004024914015727219,-0.0038173138891554937],"position_m":[0.33817508598427276,0.3200826861108445,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7b93dc7210ba6a1347dfd0c0ef749c4614f6bccd3749a9c5f983d168d184f494","episode_index":48,"episode_name":"episode_0048"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0048.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_283/tex_ceiling_textures_1817/tex_floor_textures_428/tex_table_textures_3296/tex_wall_textures_4112","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":5998553151597791382,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":5998553151597791382,"visual_seed":5998553151597791382,"scene_id":"lab_003","finished_at":"2026-09-04T01:44:52"} +{"episode_id":"ep_000049","started_at":"2026-09-04T01:44:55","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_0","position":[-0.4695490640083151,-2.359843974999749,0.71338606911949],"aabb_xy":[[-0.5195483391767513,-2.4098439762756962],[-0.419549788839879,-2.309843973723802]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_1","position":[-0.2970732216293119,1.6620780119306162,0.71338606911949],"aabb_xy":[[-0.3820732203213865,1.6300921485357371],[-0.21207322293723724,1.6940638753254949]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_2","position":[-0.20669131072924135,0.9301424497518935,0.71338606911949],"aabb_xy":[[-0.2404668699199343,0.9161039545387283],[-0.17291575153854835,0.9441809449650583]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_3","position":[0.5604029688295604,-1.360677368370995,0.71338606911949],"aabb_xy":[[0.5254029696996048,-1.3664225894466588],[0.5954029679595161,-1.3549321472953306]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_4","position":[-0.14213842670738208,1.4459381740430488,0.71338606911949],"aabb_xy":[[-0.19213842772651737,1.409471958305221],[-0.0921384256882468,1.482404389780877]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_5","position":[0.6066883475836307,-1.0608358160955342,0.71338606911949],"aabb_xy":[[0.594220989473895,-1.0733011407288577],[0.6191557056933663,-1.0483704914622107]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_6","position":[0.46838502814269645,0.859728443610491,0.71338606911949],"aabb_xy":[[0.4438388125199457,0.8294795470614541],[0.49293124376544717,0.8899773401595282]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_7","position":[-0.4120443351890796,1.8183283220527886,0.71338606911949],"aabb_xy":[[-0.44954433513284603,1.8100352320179518],[-0.3745443352453132,1.826621412087625]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_8","position":[-0.5121217501378468,0.4773740384379903,0.71338606911949],"aabb_xy":[[-0.5761217505153803,0.42762877158717805],[-0.44812174976031305,0.5271193052888026]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_9","position":[0.1554765246406774,1.2313349847046062,0.71338606911949],"aabb_xy":[[0.12101417724253556,1.196841102306783],[0.18993887203881915,1.2658288671024285]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_10","position":[-0.05411158156199636,-1.8070258800550354,0.71338606911949],"aabb_xy":[[-0.09687828844141655,-1.8710258834768376],[-0.01134487468257616,-1.7430258766332327]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_11","position":[-0.6373855653781145,0.21712153339387408,0.71338606911949],"aabb_xy":[[-0.6873855649544492,0.16714095444176819],[-0.5873855658017798,0.2671021123459801]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_12","position":[0.12434986489232569,-1.051615748123101,0.71338606911949],"aabb_xy":[[0.06934986571573619,-1.1066054228980584],[0.17934986406891518,-0.9966260733481431]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_13","position":[-0.3930214960253154,-0.5191259571620237,0.71338606911949],"aabb_xy":[[-0.430352772550558,-0.5537790119568758],[-0.3556902195000727,-0.4844729023671713]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_14","position":[-0.05025381847109456,1.6431934528233003,0.71338606911949],"aabb_xy":[[-0.11025381831766135,1.5863748306302614],[0.009746181375472236,1.7000120750163388]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_15","position":[-0.5903792298960654,-0.06367889387093184,0.71338606911949],"aabb_xy":[[-0.6128792297099678,-0.06815351024141253],[-0.567879230082163,-0.05920427750045115]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_16","position":[-0.5703440156814937,-1.6344704745154517,0.71338606911949],"aabb_xy":[[-0.6503440143383797,-1.6489753334397146],[-0.4903440170246077,-1.6199656155911888]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_17","position":[-0.2880349263770025,-0.9262119512293236,0.71338606911949],"aabb_xy":[[-0.29194879957242503,-0.9349609666358805],[-0.28412105318158,-0.9174629358227668]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_18","position":[-0.3302643538331618,-1.2058609201703798,0.71338606911949],"aabb_xy":[[-0.38036181781423534,-1.2698609206801916],[-0.2801668898520881,-1.141860919660568]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_19","position":[-0.21694477033392062,1.3432164902852919,0.71338606911949],"aabb_xy":[[-0.22106072044599326,1.3391009352524461],[-0.21282882022184793,1.3473320453181372]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_20","position":[-0.19346949754578713,1.1396060304561568,0.71338606911949],"aabb_xy":[[-0.25746949683995535,1.0756198900873026],[-0.12946949825161888,1.203592170825011]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_21","position":[-0.5228153744940691,1.6832441000802967,0.71338606911949],"aabb_xy":[[-0.572794183004385,1.6332441000745777],[-0.47283656598375323,1.7332441000860153]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_22","position":[0.6569905822184343,0.9712229399229773,0.71338606911949],"aabb_xy":[[0.6532873208892954,0.9675209216142593],[0.6606938435475732,0.974924958231695]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_23","position":[-0.3823081619711489,0.26026583305292306,0.71338606911949],"aabb_xy":[[-0.44630815836672194,0.1963025446341895],[-0.3183081655755758,0.3242291214716566]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_24","position":[0.5424227678886671,-0.072282068280348,0.71338606911949],"aabb_xy":[[0.5255120354523252,-0.08575427387296251],[0.5593335003250087,-0.058809862687733465]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_25","position":[-0.31104486954654953,0.8079557802186264,0.71338606911949],"aabb_xy":[[-0.3311032811597899,0.7878906933094687],[-0.2909864579333093,0.8280208671277838]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_26","position":[-0.6496203984231991,-2.287962472774275,0.71338606911949],"aabb_xy":[[-0.6846203967338945,-2.2956774876978208],[-0.6146204001125036,-2.2802474578507295]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_27","position":[-0.6171877858011148,-0.5681236547661546,0.71338606911949],"aabb_xy":[[-0.6322900872621328,-0.5832251763972162],[-0.6020854843400966,-0.5530221331350925]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_28","position":[0.10816684033915758,-1.2244521636613954,0.71338606911949],"aabb_xy":[[0.054151244057257575,-1.2884521665536524],[0.16218243662105758,-1.160452160769138]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_29","position":[0.06497507829158966,1.7123429813624829,0.71338606911949],"aabb_xy":[[0.060019058106708476,1.6898429811603617],[0.06993109847647087,1.734842981564605]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_30","position":[-0.489448649231191,-1.4132372872462287,0.71338606911949],"aabb_xy":[[-0.5394219432344514,-1.4632372878007758],[-0.43947535522793046,-1.363237286691681]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_31","position":[-0.26689345200918974,1.4108078380182816,0.71338606911949],"aabb_xy":[[-0.2893934515328971,1.3883118905676606],[-0.2443934524854823,1.4333037854689021]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_32","position":[-0.4437947927754913,1.4238523771994518,0.71338606911949],"aabb_xy":[[-0.507794789887597,1.3748200074050412],[-0.3797947956633856,1.4728847469938624]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_33","position":[-0.5491181059666397,-0.31004982554931626,0.71338606911949],"aabb_xy":[[-0.5571544406679245,-0.31808794485373304],[-0.5410817712653548,-0.3020117062448995]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6889031292750011,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7875.png","name":"7875"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7875.png","name":"7875"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8574.png","name":"8574"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1090.png","name":"1090"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1458.png","name":"1458"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3581.png","name":"3581"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":557.902286580541,"rotation_z_degrees":132.54551899033302,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010420168809019938,-0.0017668811257291021,0.012841786486005227]},{"name":"camera_2","offset_m":[0.017589366033610557,0.009475346642148694,0.015899480178099997]},{"name":"camera_3","offset_m":[0.007171256347887768,-0.006719352284126736,-0.011527213784428399]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.000822378458037341,0.0007430313931960581,-0.0012046819249742066],"end_effector_yaw_offset_degrees":0.03118902204703322},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-5.843656386462603e-05,-0.0013764555601843882,0.0002804435372460762],"end_effector_yaw_offset_degrees":0.8598782891261341},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005867766779110953,3.7817262686492235e-05,0.0008024118436676382],"end_effector_yaw_offset_degrees":0.24735779447139272}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0003080630971420738,0.0038284933949581735],"position_m":[0.2785919369028579,-0.11387150660504182,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004672690352497849,0.002070307640188478],"position_m":[0.22182730964750216,-0.40712969235981156,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0016574287352984452,0.003880136000492202],"position_m":[0.3542574287352985,0.0698801360004922,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001898145012759497,-0.004339122813250362],"position_m":[0.3403018549872405,0.31956087718674964,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d68cbd908ca72ece44ac4be880f9057eb3172848ed0dac4f8c7211a7abaf22f0","episode_index":49,"episode_name":"episode_0049"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0049.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_7875/tex_ceiling_textures_3581/tex_floor_textures_1458/tex_table_textures_8574/tex_wall_textures_1090","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":9125921309669647854,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":9125921309669647854,"visual_seed":9125921309669647854,"scene_id":"lab_003","finished_at":"2026-09-04T01:47:51"} +{"episode_id":"ep_000050","started_at":"2026-09-04T01:47:54","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_0","position":[-0.07829601006068676,-1.5561676994532172,0.71338606911949],"aabb_xy":[[-0.10826356697051243,-1.5861676997511032],[-0.048328453150861095,-1.5261676991553317]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_1","position":[-0.13053841799877575,-2.174946731000898,0.71338606911949],"aabb_xy":[[-0.14017005421920536,-2.1845840437806068],[-0.12090678177834613,-2.165309418221189]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_2","position":[-0.6186893824155562,1.2542209522686019,0.71338606911949],"aabb_xy":[[-0.6826893847583577,1.2092801010244691],[-0.5546893800727546,1.2991618035127341]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_3","position":[0.04679968499938392,-2.0071218954326175,0.71338606911949],"aabb_xy":[[0.028593861338136246,-2.0181472960146096],[0.0650055086606316,-1.9960964948506263]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_4","position":[-0.1588648743488803,0.3651001656154782,0.71338606911949],"aabb_xy":[[-0.21386487397062617,0.3101164728280055],[-0.10386487472713449,0.4200838584029509]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_5","position":[0.30827460813886365,-0.6048054620240899,0.71338606911949],"aabb_xy":[[0.2744990489481706,-0.618843957237255],[0.34205016732955656,-0.590766966810925]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_6","position":[0.08989306909827988,-0.8231310794950264,0.71338606911949],"aabb_xy":[[0.029893068237467065,-0.8745575095015128],[0.14989306995909266,-0.77170464948854]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_7","position":[0.33191662951760814,1.3704200552703925,0.71338606911949],"aabb_xy":[[0.28193782100729226,1.3204200552646734],[0.38189543802792403,1.420420055276111]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_8","position":[-0.04325363271085414,-1.3093263836478537,0.71338606911949],"aabb_xy":[[-0.060929263299452474,-1.3270065999272564],[-0.02557800212225581,-1.291646167368451]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_9","position":[-0.12281756899632479,0.8871085468681956,0.71338606911949],"aabb_xy":[[-0.12695342532902498,0.8496085474238387],[-0.11868171266362461,0.9246085463125527]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_10","position":[0.6259570501235701,-1.570555318029567,0.71338606911949],"aabb_xy":[[0.5759570484620751,-1.6205537602852698],[0.6759570517850646,-1.5205568757738643]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_11","position":[0.13723030145398896,0.9664296349833208,0.71338606911949],"aabb_xy":[[0.047230302035618066,0.9330541381391311],[0.22723030087235985,0.9998051318275105]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_12","position":[-0.4859168528866155,-1.4503646597832858,0.71338606911949],"aabb_xy":[[-0.549916851473188,-1.4973716231827947],[-0.421916854300043,-1.4033576963837773]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_13","position":[0.14496718762844696,-1.6638345846368432,0.71338606911949],"aabb_xy":[[0.12746718736911036,-1.677926126825616],[0.1624671878877836,-1.6497430424480708]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_14","position":[-0.3351483784622218,-2.2585474163937063,0.71338606911949],"aabb_xy":[[-0.3470811128240499,-2.2709295692015656],[-0.3232156441003938,-2.246165263585847]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_15","position":[-0.29287806905761266,-1.3760137499612175,0.71338606911949],"aabb_xy":[[-0.34285113459012817,-1.4260137497737504],[-0.24290500352509725,-1.3260137501486846]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_16","position":[-0.36170667354846,0.8990325019102672,0.71338606911949],"aabb_xy":[[-0.36801877308479847,0.8932655626570484],[-0.3553945740121216,0.904799441163486]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_17","position":[0.2865935275116893,-2.507356569422788,0.71338606911949],"aabb_xy":[[0.22159352640574603,-2.532321942490917],[0.3515935286176326,-2.4823911963546603]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_18","position":[-0.41232428722358466,0.5423888897023237,0.71338606911949],"aabb_xy":[[-0.4491748351605723,0.50488888887929],[-0.3754737392865971,0.5798888905253574]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_19","position":[-0.5815391782646181,0.35688758277501753,0.71338606911949],"aabb_xy":[[-0.617168334164578,0.3212549160181646],[-0.5459100223646585,0.3925202495318705]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_20","position":[0.3116902584474066,1.2552659423194945,0.71338606911949],"aabb_xy":[[0.3036962698697031,1.247265862224404],[0.3196842470251099,1.2632660224145846]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_21","position":[0.031112551531190857,1.273913134899873,0.71338606911949],"aabb_xy":[[-0.018887447114730338,1.2239935912404103],[0.08111255017711205,1.323832678559335]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_22","position":[-0.15580783986547386,-2.071388082265093,0.71338606911949],"aabb_xy":[[-0.2208078384225467,-2.101140615678976],[-0.09080784130840103,-2.0416355488512106]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_23","position":[0.4839324464173953,-0.9863080187383801,0.71338606911949],"aabb_xy":[[0.4039324459471794,-0.9946187263527286],[0.5639324468876112,-0.9779973111240319]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_24","position":[0.5903935518550514,0.37169769762885974,0.71338606911949],"aabb_xy":[[0.5625485150744443,0.34091319889054805],[0.6182385886356585,0.4024821963671714]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_25","position":[-0.3876824527964574,1.5789869465323796,0.71338606911949],"aabb_xy":[[-0.4726824512138807,1.4941126510700948],[-0.30268245437903424,1.6638612419946648]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_26","position":[0.36855019593150296,-0.738871206778551,0.71338606911949],"aabb_xy":[[0.3045501952280336,-0.7848895892514721],[0.43255019663497235,-0.69285282430563]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_27","position":[-0.3099989037309841,-1.0280610254462317,0.71338606911949],"aabb_xy":[[-0.36999890357755083,-1.0848796476392704],[-0.24999890388441726,-0.971242403253193]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_28","position":[0.4441065685777532,-0.47057753056399587,0.71338606911949],"aabb_xy":[[0.4349466896338766,-0.4771087486075329],[0.4532664475216298,-0.46404631252045886]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_29","position":[-0.5043038537814349,0.10943247132626999,0.71338606911949],"aabb_xy":[[-0.5843038511850284,0.02943990012808718],[-0.42430385637784157,0.1894250425244528]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_30","position":[0.5234226137138793,-0.34090739237649936,0.71338606911949],"aabb_xy":[[0.5109552556041437,-0.35337271700982287],[0.535889971823615,-0.32844206774317586]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_31","position":[0.2550493646669787,1.560393723693967,0.71338606911949],"aabb_xy":[[0.24700600474102352,1.4753937225986002],[0.26309272459293387,1.645393724789333]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6932606858629128,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4960.png","name":"4960"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4960.png","name":"4960"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3923.png","name":"3923"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/434.png","name":"434"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9856.png","name":"9856"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8857.png","name":"8857"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":711.2935517833312,"rotation_z_degrees":233.99160860290058,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016687851953762017,-0.013084558296005539,0.004175471058568553]},{"name":"camera_2","offset_m":[0.008696114799072098,0.012522896224315915,-0.013772434822174443]},{"name":"camera_3","offset_m":[0.019852439342398564,-0.003872479120341211,0.010191712367769092]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00035505474546893966,0.0016585777717829276,-0.0011106291237975904],"end_effector_yaw_offset_degrees":0.35576040524677643},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005569634505282646,0.001730271403655152,-0.001033723596166599],"end_effector_yaw_offset_degrees":0.6173403310370944},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007195118794479395,-0.0007762781632024672,0.00022383942695280426],"end_effector_yaw_offset_degrees":0.7392440083031186}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0009371484589578817,-0.0022018465045123324],"position_m":[0.2779628515410421,-0.11990184650451233,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002665349845744034,0.001453223309820095],"position_m":[0.22383465015425597,-0.4077467766901799,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004622682274015185,-0.002584038209863131],"position_m":[0.34797731772598484,0.06341596179013687,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0005671906949046394,0.00033253294885936865],"position_m":[0.34276719069490463,0.3242325329488594,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e654e9227d932fc9264defcd25d35632979943973680852bf9e5637501944774","episode_index":50,"episode_name":"episode_0050"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0050.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_4960/tex_ceiling_textures_8857/tex_floor_textures_9856/tex_table_textures_3923/tex_wall_textures_434","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":2708107282169865313,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":2708107282169865313,"visual_seed":2708107282169865313,"scene_id":"lab_003","finished_at":"2026-09-04T01:50:37"} +{"episode_id":"ep_000051","started_at":"2026-09-04T01:50:41","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_0","position":[0.2591889146250992,-2.3167470756050594,0.71338606911949],"aabb_xy":[[0.1951889173394506,-2.358253794557904],[0.3231889119107479,-2.275240356652216]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_1","position":[-0.6181605861754345,-0.48344271781685144,0.71338606911949],"aabb_xy":[[-0.6531605853682526,-0.494409763814514],[-0.5831605869826161,-0.47247567181918876]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_2","position":[0.33303662568902404,-2.10256348409849,0.71338606911949],"aabb_xy":[[0.27540615680175307,-2.1625634830252003],[0.3906670945762947,-2.042563485171779]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_3","position":[-0.6399039259870294,-1.9037515230548925,0.71338606911949],"aabb_xy":[[-0.677235202512272,-1.938404577849745],[-0.6025726494617868,-1.8690984682600404]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_4","position":[0.22067863843169944,-1.129189149358696,0.71338606911949],"aabb_xy":[[0.21697537710256054,-1.1328911676674138],[0.22438189976083828,-1.1254871310499779]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_5","position":[0.4946963746471136,-0.9368332647440141,0.71338606911949],"aabb_xy":[[0.472196375123406,-0.9593292121946349],[0.5171963741708208,-0.9143373172933933]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_6","position":[0.42660172469151214,1.6020117190832095,0.71338606911949],"aabb_xy":[[0.346607901112954,1.5220117164903684],[0.5065955482700704,1.6820117216760515]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_7","position":[-0.01614757034284897,-0.88326315264904,0.71338606911949],"aabb_xy":[[-0.02211410928358476,-0.8892242973084041],[-0.010181031402113183,-0.8773020079896761]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_8","position":[0.43793931076124304,1.4404640849753814,0.71338606911949],"aabb_xy":[[0.4299130401306171,1.4317125899980288],[0.4459655813918691,1.449215579952734]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_9","position":[0.01044719635837732,0.936563519774483,0.71338606911949],"aabb_xy":[[-0.020037053768652835,0.8865635199929871],[0.040931446485407474,0.986563519555979]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_10","position":[0.7175805264197803,-0.33058064018773337,0.71338606911949],"aabb_xy":[[0.7131498970649403,-0.336029011922416],[0.7220111557746206,-0.3251322684530508]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_11","position":[0.4103000154114853,1.3756234282265911,0.71338606911949],"aabb_xy":[[0.37280001389585354,1.364396655210446],[0.44780001692711696,1.3868502012427362]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_12","position":[0.6750310515607307,-0.1824803528174237,0.71338606911949],"aabb_xy":[[0.6656135769908679,-0.19189652995514273],[0.6844485261305934,-0.17306417567970467]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_13","position":[-0.16367325843053937,-2.48773800035808,0.71338606911949],"aabb_xy":[[-0.1678091147632396,-2.525237999802437],[-0.1595374020978392,-2.450238000913723]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_14","position":[0.3751239543237126,0.7165119749421667,0.71338606911949],"aabb_xy":[[0.3301313676052622,0.671511975667718],[0.420116541042163,0.7615119742166155]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_15","position":[-0.24619730465066364,-0.9015417612675227,0.71338606911949],"aabb_xy":[[-0.3011710266869965,-0.956541760831756],[-0.19122358261433076,-0.8465417617032897]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_16","position":[0.194448095932932,0.8267043634101383,0.71338606911949],"aabb_xy":[[0.14444809557236593,0.7767243762005352],[0.24444809629349806,0.8766843506197411]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_17","position":[-0.33341856032191286,1.3293833756211693,0.71338606911949],"aabb_xy":[[-0.39741855671748594,1.265420087202436],[-0.2694185639263398,1.393346664039903]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_18","position":[0.3490265085225499,-0.3649919184617425,0.71338606911949],"aabb_xy":[[0.32991420116457104,-0.3841266973389845],[0.36813881588052877,-0.3458571395845005]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_19","position":[-0.0771247839408109,-1.666303365942323,0.71338606911949],"aabb_xy":[[-0.11158713133895268,-1.7007972483401455],[-0.04266243654266908,-1.6318094835445]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_20","position":[-0.4135616747021938,-0.6989505606890529,0.71338606911949],"aabb_xy":[[-0.4270082013362371,-0.7124204123421443],[-0.40011514806815046,-0.6854807090359618]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_21","position":[-0.45296057304333,1.2645069664843844,0.71338606911949],"aabb_xy":[[-0.46117511815901385,1.2558303761867429],[-0.4447460279276459,1.2731835567820255]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_22","position":[-0.372563316635977,-1.1384830715130572,0.71338606911949],"aabb_xy":[[-0.4622503929440924,-1.2284830717675077],[-0.2828762403278615,-1.0484830712586066]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_23","position":[-0.14856582774175098,-0.3078488966047179,0.71338606911949],"aabb_xy":[[-0.1985500634499282,-0.3578488954182135],[-0.09858159203357375,-0.25784889779122233]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_24","position":[-0.5462531604467609,-1.8409421180269332,0.71338606911949],"aabb_xy":[[-0.5568206401048599,-1.8514871481399418],[-0.5356856807886619,-1.8303970879139246]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_25","position":[0.46456187039340735,0.23603446698960218,0.71338606911949],"aabb_xy":[[0.41456685943395544,0.1860344679540105],[0.5145568813528595,0.28603446602519395]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_26","position":[-0.5421990996812242,1.1899594704827372,0.71338606911949],"aabb_xy":[[-0.6221991029452373,1.1763994381738236],[-0.462199096417211,1.2035195027916503]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_27","position":[-0.6455079800656253,0.6843249196745034,0.71338606911949],"aabb_xy":[[-0.679970458078713,0.6776612424915804],[-0.6110455020525375,0.6909885968574261]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_28","position":[0.36115133994825155,-1.4366593266394483,0.71338606911949],"aabb_xy":[[0.34854864081117515,-1.4492547228643138],[0.37375403908532806,-1.4240639304145828]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_29","position":[-0.4879681019221685,-0.2620554322836335,0.71338606911949],"aabb_xy":[[-0.5729681003395917,-0.34692972774591846],[-0.4029681035047453,-0.1771811368213485]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.688363266921212,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8051.png","name":"8051"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8051.png","name":"8051"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6706.png","name":"6706"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8744.png","name":"8744"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8080.png","name":"8080"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9060.png","name":"9060"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":815.3786444334497,"rotation_z_degrees":313.6524956969967,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007492353033365524,0.003202070621075661,-0.015856421736172577]},{"name":"camera_2","offset_m":[-0.008487812168149636,-0.015199578844774821,-0.014528896067201761]},{"name":"camera_3","offset_m":[0.015280071541952978,0.0071253634993108,0.01859260785610674]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0002418267451970305,-0.0011397258293135391,-0.001979996517183493],"end_effector_yaw_offset_degrees":0.33085998630449076},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[7.639990952616705e-05,0.001248382723199931,0.0007275421278995623],"end_effector_yaw_offset_degrees":-0.8454763520572204},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008239728496401404,0.0006844067737935035,0.0011097403089387102],"end_effector_yaw_offset_degrees":-0.6499632512509306}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004137917821802997,0.001191277275565946],"position_m":[0.274762082178197,-0.11650872272443405,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004024879538229078,0.0041978707745330265],"position_m":[0.22247512046177093,-0.40500212922546697,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004287003720776949,-0.0006945637375697887],"position_m":[0.356887003720777,0.06530543626243021,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0033161448293330476,-0.0028012222170261812],"position_m":[0.33888385517066694,0.32109877778297385,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"08b24f60b80df3f1b54890b9f32b9fc664c438bd3f1f095a15b7471a72f26415","episode_index":51,"episode_name":"episode_0051"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0051.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_8051/tex_ceiling_textures_9060/tex_floor_textures_8080/tex_table_textures_6706/tex_wall_textures_8744","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":3175787248918900010,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":3175787248918900010,"visual_seed":3175787248918900010,"scene_id":"lab_003","finished_at":"2026-09-04T01:53:36"} +{"episode_id":"ep_000052","started_at":"2026-09-04T01:53:40","dimensions":{"distractor":{"count":24,"items":[{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_0","position":[0.19947358075807586,-1.0308904412062079,0.71338606911949],"aabb_xy":[[0.16356007633308614,-1.0668039494229624],[0.23538708518306553,-0.9949769329894532]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_1","position":[-0.1729386342499274,0.16913482981495198,0.71338606911949],"aabb_xy":[[-0.17890517319066318,0.16317368515558794],[-0.1669720953091916,0.17509597447431602]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_2","position":[0.018490847069464023,1.6770209659502284,0.71338606911949],"aabb_xy":[[-0.011993403057566132,1.6270209661687327],[0.04897509719649418,1.7270209657317246]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_3","position":[-0.38276808993468275,-2.0023603910881365,0.71338606911949],"aabb_xy":[[-0.43276292286262436,-2.05236038998338],[-0.33277325700674115,-1.952360392192893]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_4","position":[0.484381554432215,0.29561795830346504,0.71338606911949],"aabb_xy":[[0.4043815511743721,0.21562145051148107],[0.5643815576900579,0.375614466095449]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_5","position":[0.34034107302541794,-0.6746872903020686,0.71338606911949],"aabb_xy":[[0.33544178071885444,-0.7023642096046373],[0.34524036533198144,-0.6470103709994998]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_6","position":[0.2993278632304186,0.903201983130888,0.71338606911949],"aabb_xy":[[0.2540492483492693,0.8392019837827043],[0.3446064781115678,0.9672019824790716]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_7","position":[-0.2847762527188087,0.7319199763983262,0.71338606911949],"aabb_xy":[[-0.3347495467220691,0.6819199758437788],[-0.23480295871554818,0.7819199769528735]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_8","position":[-0.5091936365838288,0.8916443906702809,0.71338606911949],"aabb_xy":[[-0.5592911005649023,0.8276443901604691],[-0.45909617260275504,0.9556443911800927]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_9","position":[-0.40323379778158747,-1.7499918837980113,0.71338606911949],"aabb_xy":[[-0.42451180592505966,-1.8149918861240841],[-0.38195578963811516,-1.684991881471938]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_10","position":[0.5641509711516397,-1.7121409944963841,0.71338606911949],"aabb_xy":[[0.5141509702011069,-1.7436901414999053],[0.6141509721021725,-1.6805918474928625]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_11","position":[0.0764195701663658,1.489971431362204,0.71338606911949],"aabb_xy":[[0.012419571579793356,1.4429644679626952],[0.14041956875293826,1.5369783947617126]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_12","position":[-0.609482455118797,0.304504315900477,0.71338606911949],"aabb_xy":[[-0.6734824554963306,0.2547590490496647],[-0.5454824547412633,0.3542495827512892]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_13","position":[0.5918414364751567,-1.0712907758733359,0.71338606911949],"aabb_xy":[[0.58268155753128,-1.077821993916873],[0.6010013154190332,-1.0647595578297988]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_14","position":[-0.3738934505009354,1.7982364968814024,0.71338606911949],"aabb_xy":[[-0.3803072641441203,1.791826676633734],[-0.3674796368577504,1.8046463171290708]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_15","position":[-0.41661565583424603,-1.4986896535182916,0.71338606911949],"aabb_xy":[[-0.4716079064697571,-1.5536896552616046],[-0.36162340519873515,-1.4436896517749789]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_16","position":[0.6937453367461619,-1.1904656067893002,0.71338606911949],"aabb_xy":[[0.6699091191055568,-1.280465607597787],[0.717581554386767,-1.100465605980814]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_17","position":[0.18921298825002564,1.3457741391490772,0.71338606911949],"aabb_xy":[[0.1716662933339067,1.3082741375848257],[0.20675968316614457,1.3832741407133282]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_18","position":[-0.2800008653628357,1.2851873886070253,0.71338606911949],"aabb_xy":[[-0.3227675722422559,1.2211873851852229],[-0.2372341584834155,1.3491873920288278]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_19","position":[-0.4616030693839018,0.20116190660929822,0.71338606911949],"aabb_xy":[[-0.48660306854953495,0.19420966090394168],[-0.4366030702182687,0.20811415231465483]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_20","position":[-0.4440822789543822,-0.8654836600728741,0.71338606911949],"aabb_xy":[[-0.4611843569127503,-0.882590465604144],[-0.42698020099601397,-0.8483768545416045]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_21","position":[0.7001017563136218,-0.8770683686198053,0.71338606911949],"aabb_xy":[[0.6921784760748736,-0.8995683688578087],[0.7080250365523703,-0.854568368381802]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_22","position":[0.3873179073379913,-0.48995524549936187,0.71338606911949],"aabb_xy":[[0.357326244604121,-0.5199552448361624],[0.41730957007186165,-0.45995524616256134]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_23","position":[0.5461795096016873,0.6452094377211655,0.71338606911949],"aabb_xy":[[0.5286795761677038,0.6277094378009309],[0.5636794430356705,0.6627094376414]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6945684896754193,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2114.png","name":"2114"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2114.png","name":"2114"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9937.png","name":"9937"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8967.png","name":"8967"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3376.png","name":"3376"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8949.png","name":"8949"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":621.7500646904575,"rotation_z_degrees":277.41774622578737,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01918979592605798,0.013080418750542794,-0.001949134524651272]},{"name":"camera_2","offset_m":[-0.0069186460017500815,-0.011964898386294692,0.0035842646549186924]},{"name":"camera_3","offset_m":[0.006776883879450558,-0.0017027635950879957,0.0023348065227389754]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0007342052400826247,0.00034997833417255804,-0.0019098440245612297],"end_effector_yaw_offset_degrees":0.5282264721101448},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0019449604674404255,0.0019648112289862504,0.00041329693563270245],"end_effector_yaw_offset_degrees":-0.44497256298982957},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019561755869301565,0.00027124531975274624,0.001099571167985403],"end_effector_yaw_offset_degrees":0.14868347171067908}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0033898547814176653,0.0009281695633607066],"position_m":[0.28228985478141766,-0.11677183043663929,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0014749265899876738,-0.00011584783975702485],"position_m":[0.22502507341001232,-0.40931584783975705,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0037661943427334922,0.0030472489215485022],"position_m":[0.35636619434273353,0.06904724892154851,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0029317455988154975,-0.0013502996323640003],"position_m":[0.3451317455988155,0.322549700367636,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9dac03c175a4ac7426088bd086fa00c202b5759745e571d4d4ef2512f45b89f9","episode_index":52,"episode_name":"episode_0052"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0052.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2114/tex_ceiling_textures_8949/tex_floor_textures_3376/tex_table_textures_9937/tex_wall_textures_8967","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":2783716626221314685,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":2783716626221314685,"visual_seed":2783716626221314685,"scene_id":"lab_003","finished_at":"2026-09-04T01:56:22"} +{"episode_id":"ep_000053","started_at":"2026-09-04T01:56:25","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_0","position":[-0.08029319322198969,-1.722651819921969,0.71338606911949],"aabb_xy":[[-0.11779319351416452,-1.7266932953225724],[-0.042793192929814886,-1.7186103445213654]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_1","position":[0.6262329976094019,0.8509318324476136,0.71338606911949],"aabb_xy":[[0.5622330003070553,0.8065654054797569],[0.690232994911748,0.8952982594154704]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_2","position":[-0.4603841334007387,1.1141889200782127,0.71338606911949],"aabb_xy":[[-0.4978841345855314,1.109770697382152],[-0.4228841322159458,1.118607142774273]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_3","position":[-0.595884148985845,-1.8306949072337004,0.71338606911949],"aabb_xy":[[-0.6012166636404579,-1.8360192354789362],[-0.590551634331232,-1.825370578988465]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_4","position":[0.00804301109403649,1.114728268087637,0.71338606911949],"aabb_xy":[[6.67639275164604e-06,1.1066901487832201],[0.01607934579532133,1.1227663873920537]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_5","position":[0.26730969460735476,-1.6570583656796347,0.71338606911949],"aabb_xy":[[0.26172802297322595,-1.6695583654974104],[0.27289136624148347,-1.6445583658618594]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_6","position":[0.027143330804218713,-1.7442338228387078,0.71338606911949],"aabb_xy":[[0.009565028615271861,-1.7618083124128128],[0.04472163299316556,-1.7266593332646027]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_7","position":[0.32092006006673657,-0.7483212389236986,0.71338606911949],"aabb_xy":[[0.28342006012297016,-0.7566143289585352],[0.35842006001050297,-0.740028148888862]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_8","position":[0.2871452021630091,-1.2789159080080383,0.71338606911949],"aabb_xy":[[0.26386335996487775,-1.3639159093052662],[0.31042704436114044,-1.19391590671081]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_9","position":[-0.20260974176902996,1.7227897538953356,0.71338606911949],"aabb_xy":[[-0.24010974226638823,1.718821070347217],[-0.16510974127167174,1.7267584374434541]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_10","position":[0.5432242433206917,-2.00165087400206,0.71338606911949],"aabb_xy":[[0.4971391520659602,-2.0656508712546153],[0.5893093345754231,-1.9376508767495053]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_11","position":[-0.4642378528004395,-0.956617249119508,0.71338606911949],"aabb_xy":[[-0.4947221029274697,-1.0066172489010037],[-0.4337536026734094,-0.9066172493380119]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_12","position":[0.5685283938482355,-2.50164147931452,0.71338606911949],"aabb_xy":[[0.4885283924181082,-2.581158634327129],[0.6485283952783626,-2.42212432430191]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_13","position":[0.6509439940544026,1.4039328439363845,0.71338606911949],"aabb_xy":[[0.614093446117415,1.3664328431133508],[0.6877945419913902,1.4414328447594182]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_14","position":[0.41996859664112507,-2.471592850546952,0.71338606911949],"aabb_xy":[[0.4129271456903774,-2.4786196022847466],[0.4270100475918726,-2.464566098809158]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_15","position":[0.6153342401309327,1.6701305171970318,0.71338606911949],"aabb_xy":[[0.6066202710809981,1.647630516537843],[0.6240482091808671,1.6926305178562195]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_16","position":[-0.36852499946498546,0.570278540668474,0.71338606911949],"aabb_xy":[[-0.40200416672602646,0.5367994272973671],[-0.33504583220394457,0.603757654039581]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_17","position":[-0.36763760887113667,-0.10855317172603174,0.71338606911949],"aabb_xy":[[-0.4026376080639548,-0.11952021772369434],[-0.3326376096783183,-0.09758612572836908]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_18","position":[-0.46869519120532666,0.5582306696660755,0.71338606911949],"aabb_xy":[[-0.4862418861214456,0.5207306681018242],[-0.4511484962892077,0.5957306712303267]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_19","position":[0.24342672814500488,0.9437585134326998,0.71338606911949],"aabb_xy":[[0.18342672829843806,0.886939891239661],[0.30342672799157167,1.0005771356257385]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_20","position":[0.6284731608245018,-0.7715028231837124,0.71338606911949],"aabb_xy":[[0.6129173914142365,-0.7870532564281197],[0.644028930234767,-0.7559523899393054]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_21","position":[0.4169873076593147,-0.5616283393364534,0.71338606911949],"aabb_xy":[[0.34698730502272834,-0.5817332043323189],[0.48698731029590103,-0.5415234743405879]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_22","position":[-0.2926640099370401,1.0529953967880332,0.71338606911949],"aabb_xy":[[-0.32610418513305967,1.0195517709571027],[-0.25922383474102045,1.0864390226189629]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_23","position":[-0.43272738896959245,0.0006710996555296944,0.71338606911949],"aabb_xy":[[-0.49672738813936246,-0.04609558746343278],[-0.36872738979982256,0.04743778677449217]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_24","position":[-0.24144165745632684,-2.3894644828132625,0.71338606911949],"aabb_xy":[[-0.24885411299771534,-2.3953156932348905],[-0.2340292019149384,-2.3836132723916346]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_25","position":[0.3577187961353412,1.173901463593229,0.71338606911949],"aabb_xy":[[0.3127262094168908,1.1289014643187802],[0.4027113828537916,1.2189014628676778]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_26","position":[-0.2805692430437884,-2.0743719870924093,0.71338606911949],"aabb_xy":[[-0.2956715445048064,-2.089473508723471],[-0.26546694158277023,-2.059270465461347]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_27","position":[0.428342267143039,-1.7929094407848785,0.71338606911949],"aabb_xy":[[0.36334226450524554,-1.8443890394843254],[0.4933422697808325,-1.7414298420854315]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_28","position":[-0.3065824360126936,-2.232254452358127,0.71338606911949],"aabb_xy":[[-0.39626951232080904,-2.3222544526125777],[-0.21689535970457813,-2.1422544521036766]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_29","position":[0.480266407608533,-1.163752976352076,0.71338606911949],"aabb_xy":[[0.41867564838454013,-1.227752974461123],[0.5418571668325258,-1.0997529782430293]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_30","position":[0.47457710516228513,1.621860856234124,0.71338606911949],"aabb_xy":[[0.40957710416178456,1.571074491079449],[0.5395771061627856,1.6726472213887988]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_31","position":[0.6375678151013657,0.692812888546964,0.71338606911949],"aabb_xy":[[0.6267162088524901,0.681953597819313],[0.6484194213502413,0.703672179274615]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6875738121500303,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2897.png","name":"2897"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2897.png","name":"2897"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7968.png","name":"7968"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2708.png","name":"2708"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1869.png","name":"1869"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2754.png","name":"2754"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":799.7900410008167,"rotation_z_degrees":297.86991021697776,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019914018362576193,-0.010902264500889545,-0.015611038565875871]},{"name":"camera_2","offset_m":[0.002552042609593897,-0.016971916822511722,-0.013037115827129856]},{"name":"camera_3","offset_m":[-0.013735770944709036,-0.01145830117665168,-0.0038881363550470477]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001091306484872109,0.0005722480810951124,0.0016737409853301794],"end_effector_yaw_offset_degrees":0.19268186554014588},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019526284169180154,0.0006299829684003467,-0.00022864067741083186],"end_effector_yaw_offset_degrees":-0.9555426264231635},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00011747834954964993,-0.0012753490277841069,0.0005200905826598127],"end_effector_yaw_offset_degrees":0.19480001890578658}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0008307196683559259,0.002583296064541118],"position_m":[0.2797307196683559,-0.11511670393545888,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0013645385048256988,0.0030016062766380558],"position_m":[0.22786453850482571,-0.406198393723362,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0019746318227497972,-0.0035048204228006943],"position_m":[0.35457463182274984,0.06249517957719931,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0032749619127299123,-0.004575663190498655],"position_m":[0.3389250380872701,0.31932433680950134,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"57dbdab89d0d204effe1131cb5e8a9aec03401977b6187c684b6be15d3262758","episode_index":53,"episode_name":"episode_0053"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0053.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_2897/tex_ceiling_textures_2754/tex_floor_textures_1869/tex_table_textures_7968/tex_wall_textures_2708","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":3621979879582021253,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":3621979879582021253,"visual_seed":3621979879582021253,"scene_id":"lab_003","finished_at":"2026-09-04T01:59:14"} +{"episode_id":"ep_000054","started_at":"2026-09-04T01:59:19","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_0","position":[-0.2619762528609924,-1.8757225515102331,0.71338606911949],"aabb_xy":[[-0.3419762561188353,-1.955719059302217],[-0.1819762496031494,-1.795726043718249]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_1","position":[0.2441244298566313,-1.3603698495799716,0.71338606911949],"aabb_xy":[[0.23866648421961117,-1.4403698528876305],[0.2495823754936513,-1.2803698462723123]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_2","position":[-0.5757725134260908,-2.1759246923782647,0.71338606911949],"aabb_xy":[[-0.6257725128662863,-2.225892616862581],[-0.5257725139858951,-2.1259567678939484]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_3","position":[-0.6444081983264023,1.2094548709393997,0.71338606911949],"aabb_xy":[[-0.6514485082599393,1.1294548715397286],[-0.6373678883928653,1.2894548703390714]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_4","position":[0.016404494052959073,1.585829371681299,0.71338606911949],"aabb_xy":[[-0.021095505764074485,1.581191160370157],[0.05390449386999263,1.5904675829924406]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_5","position":[0.3029410151146913,-1.6368940044042803,0.71338606911949],"aabb_xy":[[0.26163647205095525,-1.7008940039723974],[0.3442455581784272,-1.5728940048361633]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_6","position":[-0.3694663395829222,1.0827470423203893,0.71338606911949],"aabb_xy":[[-0.39196547530914916,1.0602470415421263],[-0.3469672038566952,1.1052470430986523]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_7","position":[0.08210020838517418,-1.0868857544390582,0.71338606911949],"aabb_xy":[[0.06442457779657583,-1.104565970718461],[0.0997758389737725,-1.0692055381596555]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_8","position":[0.13900611856333311,-1.699420448956361,0.71338606911949],"aabb_xy":[[0.12312162529800794,-1.7137733892551847],[0.15489061182865824,-1.6850675086575366]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_9","position":[0.30723479841407064,-1.2448577415067705,0.71338606911949],"aabb_xy":[[0.2953020640522425,-1.25723989431463],[0.31916753277589865,-1.2324755886989112]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_10","position":[0.40695576133889655,-1.9948152389193519,0.71338606911949],"aabb_xy":[[0.3429557640365501,-2.0391816658872086],[0.4709557586412429,-1.9504488119514949]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_11","position":[-0.4599993142324013,1.7275203329977242,0.71338606911949],"aabb_xy":[[-0.5399993153055216,1.7177422866603398],[-0.3799993131592809,1.7372983793351087]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_12","position":[0.5131661594766472,-0.45403552585980433,0.71338606911949],"aabb_xy":[[0.49066615923313184,-0.4662401605195763],[0.5356661597201626,-0.4418308912000324]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_13","position":[0.6844631616335863,-0.7922811837651258,0.71338606911949],"aabb_xy":[[0.6501468844589684,-0.8422811837383035],[0.7187794388082043,-0.7422811837919481]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_14","position":[0.6479089443544901,1.2095571370506,0.71338606911949],"aabb_xy":[[0.6029163576360397,1.1645571377761512],[0.6929015310729405,1.2545571363250487]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_15","position":[-0.29165360371313953,0.38734254158143644,0.71338606911949],"aabb_xy":[[-0.3416365539006188,0.337342541938876],[-0.24167065352566017,0.4373425412239968]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_16","position":[0.4916371052565911,0.8132717122677402,0.71338606911949],"aabb_xy":[[0.4807854990077155,0.8024124215400891],[0.5024887115054667,0.8241310029953911]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_17","position":[0.5188490339944858,1.5569623454550716,0.71338606911949],"aabb_xy":[[0.5019383015581439,1.5434901398624568],[0.5357597664308275,1.570434551047686]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_18","position":[0.4905175398806543,-2.389684046897668,0.71338606911949],"aabb_xy":[[0.42651753666201647,-2.4364071587966762],[0.5545175430992921,-2.3429609349986595]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_19","position":[0.4692850939410198,0.4537955935731457,0.71338606911949],"aabb_xy":[[0.414311371904687,0.3987955940089125],[0.5242588159773527,0.5087955931373789]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_20","position":[0.13846521927577993,-1.2493194876132148,0.71338606911949],"aabb_xy":[[0.10731830043219678,-1.319319486300022],[0.16961213811936302,-1.1793194889264076]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_21","position":[-0.5909687043070461,1.2336030906295918,0.71338606911949],"aabb_xy":[[-0.5965503759411747,1.2211030908118161],[-0.5853870326729173,1.2461030904473671]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_22","position":[0.4612184056145474,-0.7522043450090612,0.71338606911949],"aabb_xy":[[0.4117379844005887,-0.8162043429219131],[0.5106988268285062,-0.6882043470962095]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_23","position":[-0.16951386145163283,1.644683024190773,0.71338606911949],"aabb_xy":[[-0.2295138623124456,1.5932565941842862],[-0.10951386059082001,1.696109454197259]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_24","position":[0.4018381387471124,0.7699769821622846,0.71338606911949],"aabb_xy":[[0.3842914438309934,0.7324769805980333],[0.41938483366323126,0.8074769837265359]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_25","position":[0.7185874916162587,-0.18728022369831043,0.71338606911949],"aabb_xy":[[0.712620952675523,-0.19324136835767447],[0.7245540305569944,-0.1813190790389464]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_26","position":[0.178937787330683,1.2927261271083976,0.71338606911949],"aabb_xy":[[0.15602207444563312,1.2698218299719741],[0.20185350021573295,1.3156304242448211]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_27","position":[0.5052961724039648,1.1286189774576765,0.71338606911949],"aabb_xy":[[0.45531736389364896,1.0786189774519577],[0.5552749809142807,1.1786189774633953]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_28","position":[-0.14182883209444808,0.20290736210108884,0.71338606911949],"aabb_xy":[[-0.14526950833450528,0.1990459291267244],[-0.13838815585439093,0.20676879507545334]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_29","position":[0.6791320356004367,-1.484116261767474,0.71338606911949],"aabb_xy":[[0.6749961792677366,-1.5216162612118311],[0.683267891933137,-1.4466162623231171]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_30","position":[0.4714943973135364,-0.13166895686013058,0.71338606911949],"aabb_xy":[[0.4469481816907856,-0.16191785340916762],[0.49604061293628704,-0.1014200603110935]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_31","position":[0.6269904628725684,1.4591026321287592,0.71338606911949],"aabb_xy":[[0.6067061601491694,1.43882000698605],[0.647274765595967,1.4793852572714676]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6943599813019691,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2550.png","name":"2550"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2550.png","name":"2550"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1219.png","name":"1219"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6726.png","name":"6726"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9519.png","name":"9519"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5211.png","name":"5211"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":658.981126410348,"rotation_z_degrees":132.16613653335355,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012949825502998311,-0.003950337815106661,-0.004304085658102804]},{"name":"camera_2","offset_m":[0.0013003766640003536,-0.017125076174511103,0.01783015114039316]},{"name":"camera_3","offset_m":[0.004120577472778643,-0.004182198627917556,-0.01659980149367505]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00023783844262297168,-0.00010644294405228339,0.0016590508424599508],"end_effector_yaw_offset_degrees":0.3147327409207925},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005400988474104733,-0.000623713052140534,0.0007458234528383797],"end_effector_yaw_offset_degrees":-0.8857025073397877},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008791508199060502,-0.00048347164836518974,0.0017908678558719924],"end_effector_yaw_offset_degrees":0.4145144689266622}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0036152209633410837,0.0006957307800801345],"position_m":[0.2825152209633411,-0.11700426921991987,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003058889740189554,-0.0028565472721334808],"position_m":[0.22344111025981045,-0.4120565472721335,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004795664857814084,0.0024230404662223225],"position_m":[0.3573956648578141,0.06842304046622233,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-6.71723562497284e-05,0.003863896455347773],"position_m":[0.3421328276437503,0.3277638964553478,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b5a9f01e5fe1006fc897bf50131afd5376468651e084e3880a09850b22b3c948","episode_index":54,"episode_name":"episode_0054"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0054.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_2550/tex_ceiling_textures_5211/tex_floor_textures_9519/tex_table_textures_1219/tex_wall_textures_6726","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":5373237227741709198,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":5373237227741709198,"visual_seed":5373237227741709198,"scene_id":"lab_003","finished_at":"2026-09-04T02:02:04"} +{"episode_id":"ep_000055","started_at":"2026-09-04T02:02:08","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_0","position":[0.502901360131089,0.8719656829185971,0.71338606911949],"aabb_xy":[[0.4956401125606816,0.8591786726550876],[0.5101626077014965,0.8847526931821066]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_1","position":[0.10131353406444288,-2.39207380291429,0.71338606911949],"aabb_xy":[[0.0688518331825154,-2.422206635029192],[0.1337752349463703,-2.3619409707993864]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_2","position":[0.03345106933189712,-0.8154867716619072,0.71338606911949],"aabb_xy":[[-0.021544408488762275,-0.8704867730958141],[0.08844654715255651,-0.7604867702280003]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_3","position":[-0.29933113197718253,-1.0810009898460617,0.71338606911949],"aabb_xy":[[-0.31600826797027803,-1.097700913819992],[-0.282653995984087,-1.0643010658721315]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_4","position":[0.3092586371652979,-2.2090613635181287,0.71338606911949],"aabb_xy":[[0.2781117183217148,-2.279061362204936],[0.340405556008881,-2.1390613648313215]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_5","position":[-0.41513453851349014,-0.8092355685411841,0.71338606911949],"aabb_xy":[[-0.4791345376832601,-0.8560022556601465],[-0.3511345393437202,-0.7624688814222216]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_6","position":[0.502481329891425,-0.4527858183894482,0.71338606911949],"aabb_xy":[[0.43748133200977735,-0.5039094820959892],[0.5674813277730729,-0.40166215468290745]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_7","position":[-0.04605821545552391,1.8032446138551825,0.71338606911949],"aabb_xy":[[-0.061221088432461004,1.788079156560064],[-0.030895342478586836,1.8184100711503015]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_8","position":[0.007950117435856274,-1.5374344110310787,0.71338606911949],"aabb_xy":[[-0.04153030377810252,-1.6014344089439305],[0.057430538649815066,-1.4734344131182269]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_9","position":[0.4221556084820255,-2.407281293568648,0.71338606911949],"aabb_xy":[[0.3853050605450379,-2.444781294391681],[0.4590061564190131,-2.3697812927456137]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_10","position":[-0.25382113992894956,0.47722946154208534,0.71338606911949],"aabb_xy":[[-0.3188211399632523,0.430528784861758],[-0.18882113989464683,0.5239301382224126]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_11","position":[0.11928854926711341,-2.0020105272404307,0.71338606911949],"aabb_xy":[[0.03928855128632836,-2.009612068202282],[0.19928854724789846,-1.9944089862785785]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_12","position":[0.284850451510147,0.6352436087225461,0.71338606911949],"aabb_xy":[[0.26030423588739626,0.6049947121735091],[0.3093966671328977,0.6654925052715832]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_13","position":[-0.1606721392622782,1.5170740456241325,0.71338606911949],"aabb_xy":[[-0.19630129516223793,1.4814413788672796],[-0.12504298336231845,1.5527067123809855]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_14","position":[-0.2606895536120575,-1.8766577492298913,0.71338606911949],"aabb_xy":[[-0.2784830605469739,-1.8944574948256887],[-0.24289604667714104,-1.8588580036340934]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_15","position":[-0.041722192443156,-0.017753720570459652,0.71338606911949],"aabb_xy":[[-0.07922219362794877,-0.02217194326652019],[-0.004222191258363198,-0.013335497874399109]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_16","position":[0.13683105003401785,-1.4523741114108435,0.71338606911949],"aabb_xy":[[0.11433104979050249,-1.4645787460706154],[0.15933105027753328,-1.4401694767510715]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_17","position":[0.6051178144982485,-2.0005732444730056,0.71338606911949],"aabb_xy":[[0.5551178128367537,-2.0505716867287083],[0.6551178161597432,-1.950574802217303]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_18","position":[0.21040368619256766,1.468070431257615,0.71338606911949],"aabb_xy":[[0.19451919292724248,1.4537174909587909],[0.22628817945789279,1.482423371556439]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_19","position":[0.580784674049377,-0.11683781381536607,0.71338606911949],"aabb_xy":[[0.5733722185079885,-0.12268902423699402],[0.5881971295907654,-0.11098660339373811]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_20","position":[-0.6253336722270474,0.8039559520443582,0.71338606911949],"aabb_xy":[[-0.6486155144251786,0.7189559507471301],[-0.6020518300289159,0.8889559533415863]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_21","position":[0.5870876815251012,-0.3014351714278849,0.71338606911949],"aabb_xy":[[0.5320876833233562,-0.3419571380543225],[0.6420876797268459,-0.2609132048014473]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_22","position":[-0.377697218323634,1.367263064513736,0.71338606911949],"aabb_xy":[[-0.4673842946317494,1.2772630642592855],[-0.2880101420155185,1.4572630647681866]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_23","position":[-0.6085969262033807,1.6882525775094854,0.71338606911949],"aabb_xy":[[-0.6725969264638514,1.6432437781565574],[-0.5445969259429098,1.7332613768624134]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_24","position":[0.17791924705718054,-0.8939034993040769,0.71338606911949],"aabb_xy":[[0.15007421027657344,-0.9246879980423885],[0.2057642838377877,-0.8631190005657652]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_25","position":[-0.6226527724431318,1.5614837905473498,0.71338606911949],"aabb_xy":[[-0.6279903481091363,1.53648378961821],[-0.6173151967771272,1.5864837914764895]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_26","position":[-0.3455288839787532,1.0011401679293614,0.71338606911949],"aabb_xy":[[-0.4255288825660726,0.9218245659912004],[-0.2655288853914337,1.0804557698675221]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_27","position":[-0.5798069629692644,-2.4555736964434116,0.71338606911949],"aabb_xy":[[-0.6598069603728577,-2.5355662676415944],[-0.4998069655656709,-2.375581125245229]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6890768520291918,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5623.png","name":"5623"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5623.png","name":"5623"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6346.png","name":"6346"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4470.png","name":"4470"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9511.png","name":"9511"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3204.png","name":"3204"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":609.5688072523143,"rotation_z_degrees":333.20137861936576,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013987308814529368,0.0005345659744386624,0.017210262348835926]},{"name":"camera_2","offset_m":[-0.008945363599188379,0.012355397559191229,0.00565695665722131]},{"name":"camera_3","offset_m":[-0.0037718288158469886,0.016268258977854468,-0.010088371327382854]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017909229605810922,0.001573972859888217,-0.0018477569799477047],"end_effector_yaw_offset_degrees":-0.27371437992574066},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011713200796166245,0.0006207114784268254,0.0013646392308406773],"end_effector_yaw_offset_degrees":-0.4090562517210248},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0013241872325252717,-0.0002840991538016237,0.000286424046224352],"end_effector_yaw_offset_degrees":-0.8188037805647113}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.000667721787905814,0.002083627782927505],"position_m":[0.2782322782120942,-0.1156163722170725,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0012691338138920956,-0.0018711155493726728],"position_m":[0.2277691338138921,-0.4110711155493727,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003758593927134451,4.146707150618455e-06],"position_m":[0.3563585939271345,0.06600414670715062,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0017541462422363376,-0.004239626269272405],"position_m":[0.34044585375776365,0.31966037373072764,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"03144755b1dab086f5459098b1b8dc5e2dde7f76fb45c801c2e6e20b41132ceb","episode_index":55,"episode_name":"episode_0055"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0055.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_5623/tex_ceiling_textures_3204/tex_floor_textures_9511/tex_table_textures_6346/tex_wall_textures_4470","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":4091191215068107890,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":4091191215068107890,"visual_seed":4091191215068107890,"scene_id":"lab_003","finished_at":"2026-09-04T02:04:55"} +{"episode_id":"ep_000056","started_at":"2026-09-04T02:04:58","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_0","position":[-0.022472864675068815,-1.8209323343028934,0.71338606911949],"aabb_xy":[[-0.03997279810905219,-1.8384323342231275],[-0.00497293124108544,-1.8034323343826584]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_1","position":[-0.005635380396347034,0.8453136110069068,0.71338606911949],"aabb_xy":[[-0.046653323782717915,0.7953136103759495],[0.03538256299002385,0.8953136116378642]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_2","position":[0.5637750979607736,1.5858914843672438,0.71338606911949],"aabb_xy":[[0.4997750986666054,1.5219053439983896],[0.6277750972549418,1.649877624736098]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_3","position":[0.5445224463064722,-1.1017760856033632,0.71338606911949],"aabb_xy":[[0.5110432790454312,-1.1352551989744701],[0.5780016135675131,-1.0682969722322562]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_4","position":[0.2870383665561419,-1.5592628472315018,0.71338606911949],"aabb_xy":[[0.2831244933607194,-1.5680118626380586],[0.2909522397515644,-1.550513831824945]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_5","position":[0.4331445718313529,-0.5698522045008216,0.71338606911949],"aabb_xy":[[0.3631445691947665,-0.5899570694966871],[0.5031445744679393,-0.5497473395049561]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_6","position":[0.2697351120214361,-0.6090945719943219,0.71338606911949],"aabb_xy":[[0.2562885853873927,-0.6225644236474132],[0.28318163865547935,-0.5956247203412307]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_7","position":[0.12164183013120322,-1.4238924169796663,0.71338606911949],"aabb_xy":[[0.09914540869733914,-1.446392416786414],[0.14413825156506732,-1.401392417172919]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_8","position":[0.21620798620303783,-1.8752565791783007,0.71338606911949],"aabb_xy":[[0.18174563880489597,-1.9097504615761232],[0.2506703336011795,-1.8407626967804778]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_9","position":[-0.48385796488065363,-0.9832724488629503,0.71338606911949],"aabb_xy":[[-0.5478579655841229,-1.0292908313358713],[-0.4198579641771843,-0.9372540663900294]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_10","position":[-0.5533171154705172,-2.1509548394248497,0.71338606911949],"aabb_xy":[[-0.6333109390490754,-2.2309548420176912],[-0.473323291891959,-2.070954836832008]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_11","position":[0.5968405824718603,0.21599577593012542,0.71338606911949],"aabb_xy":[[0.5807786550133427,0.1309957741175336],[0.612902509930378,0.30099577774271724]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_12","position":[0.46957037404465685,0.7371813705237065,0.71338606911949],"aabb_xy":[[0.3895703770816176,0.6601057288799329],[0.549570371007696,0.8142570121674798]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_13","position":[-0.2816286984942074,-2.074357663704088,0.71338606911949],"aabb_xy":[[-0.3140903993761348,-2.1044904958189905],[-0.24916699761227992,-2.044224831589185]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_14","position":[-0.32633918724165795,-0.9067820072568478,0.71338606911949],"aabb_xy":[[-0.35133918640729106,-0.9137342529622045],[-0.30133918807602483,-0.8998297615514913]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_15","position":[-0.04537856488110337,-1.5509063736556883,0.71338606911949],"aabb_xy":[[-0.05594604453920237,-1.5614514037686968],[-0.03481108522300435,-1.5403613435426797]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_16","position":[-0.28227644040092087,0.7327539350891752,0.71338606911949],"aabb_xy":[[-0.362276441831048,0.6532367800765656],[-0.20227643897079362,0.8122710901017846]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_17","position":[0.3802234403891551,1.2411562672594467,0.71338606911949],"aabb_xy":[[0.3693829621626402,1.2239699859687978],[0.39106391861567,1.2583425485500952]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_18","position":[0.6281811981818635,-0.2960607831106232,0.71338606911949],"aabb_xy":[[0.5732074761455307,-0.3510607826748564],[0.6831549202181965,-0.24106078354639005]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_19","position":[-0.44203142531172857,-1.5830912220741487,0.71338606911949],"aabb_xy":[[-0.49151184652568747,-1.6470912199870005],[-0.3925510040977699,-1.5190912241612968]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_20","position":[-0.3726068475093294,0.5012348329672847,0.71338606911949],"aabb_xy":[[-0.44260684964075886,0.4784728673415888],[-0.3026068453778998,0.5239967985929801]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_21","position":[-0.22344277621754394,-1.686857297457208,0.71338606911949],"aabb_xy":[[-0.24973160053798457,-1.713128731111859],[-0.19715395189710325,-1.6605858638025566]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_22","position":[-0.16336132540845083,-2.520900536395159,0.71338606911949],"aabb_xy":[[-0.20086132558032274,-2.5536012717780663],[-0.12586132523657886,-2.488199801012252]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_23","position":[-0.6216203140952008,0.6924137218622888,0.71338606911949],"aabb_xy":[[-0.6527672329387839,0.6224137231754816],[-0.5904733952516177,0.762413720549096]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_24","position":[-0.08694246816826812,-0.7365320153874746,0.71338606911949],"aabb_xy":[[-0.12194246643838802,-0.7436061430824626],[-0.051942469898148214,-0.7294578876924863]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_25","position":[-0.6349405468118113,0.3924665636239384,0.71338606911949],"aabb_xy":[[-0.6699405467883073,0.3830019475763218],[-0.5999405468353156,0.401931179671555]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_26","position":[-0.10823865561891932,-1.2121512339217657,0.71338606911949],"aabb_xy":[[-0.14573865713455103,-1.2233780069379108],[-0.0707386541032876,-1.2009244609056207]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6906377137109142,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3865.png","name":"3865"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3865.png","name":"3865"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8736.png","name":"8736"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4518.png","name":"4518"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9128.png","name":"9128"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8173.png","name":"8173"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":824.3753498884737,"rotation_z_degrees":300.3351312772255,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012244412120104898,-0.0022650014057832395,0.002555162719022473]},{"name":"camera_2","offset_m":[0.004999975703246971,0.005896699584147493,-0.01936053129923956]},{"name":"camera_3","offset_m":[0.006553064361198627,-0.014693147864898034,-0.015633714000303944]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008596763235324987,0.0016454763356406237,0.0018684130203423283],"end_effector_yaw_offset_degrees":-0.7938629884586623},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00154196947758774,2.096181679527541e-05,0.0017396497893876657],"end_effector_yaw_offset_degrees":-0.8378341507547737},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018983855962032058,-0.0006582444478739867,-0.00027650972291039634],"end_effector_yaw_offset_degrees":0.5873658610930583}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0013505823705029386,0.000919157923204926],"position_m":[0.28025058237050293,-0.11678084207679507,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0009483247743786848,-0.004064539862730759],"position_m":[0.22555167522562133,-0.41326453986273076,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00023343766653731793,-0.004798225391727401],"position_m":[0.3523665623334627,0.0612017746082726,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00036468150383276235,-0.004925158625739858],"position_m":[0.3425646815038328,0.3189748413742602,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e91b5f2f4918810d2bbcfea805f0433f043bcd8510af3a8f29dfad19148dcc92","episode_index":56,"episode_name":"episode_0056"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0056.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_3865/tex_ceiling_textures_8173/tex_floor_textures_9128/tex_table_textures_8736/tex_wall_textures_4518","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":7280770123350876246,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":7280770123350876246,"visual_seed":7280770123350876246,"scene_id":"lab_003","finished_at":"2026-09-04T02:07:53"} +{"episode_id":"ep_000057","started_at":"2026-09-04T02:07:57","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_0","position":[-0.17562635183608177,0.7368176089919931,0.71338606911949],"aabb_xy":[[-0.2099426290106997,0.6868176090188153],[-0.14131007466146384,0.7868176089651707]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_1","position":[0.47524922315305496,0.9216274346768047,0.71338606911949],"aabb_xy":[[0.43774922280482725,0.909836039095721],[0.5127492235012827,0.9334188302578881]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_2","position":[-0.20334800747745074,-0.21018685516484847,0.71338606911949],"aabb_xy":[[-0.21923250074277587,-0.22453979546367256],[-0.18746351421212556,-0.19583391486602444]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_3","position":[-0.4280078773879477,0.32116713091113436,0.71338606911949],"aabb_xy":[[-0.4604695782698751,0.29103429879623166],[-0.3955461765060202,0.35129996302603694]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_4","position":[0.5507807784033341,-0.36654377439271135,0.71338606911949],"aabb_xy":[[0.5364463532771705,-0.3786039899472502],[0.5651152035294974,-0.3544835588381725]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_5","position":[0.6269298941925252,-0.23060724195481663,0.71338606911949],"aabb_xy":[[0.618148667045289,-0.2393869892433468],[0.6357111213397616,-0.2218274946662865]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_6","position":[0.5483255929425801,-2.32235813929549,0.71338606911949],"aabb_xy":[[0.5133255915910983,-2.3427178752523106],[0.5833255942940617,-2.301998403338669]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_7","position":[0.4071430203831716,-1.9014757662334776,0.71338606911949],"aabb_xy":[[0.3939917744118823,-1.9264757659901641],[0.42029426635446104,-1.876475766476791]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_8","position":[0.23813294778310545,1.5089134699459659,0.71338606911949],"aabb_xy":[[0.14844587147499,1.4189134696915153],[0.3278200240912209,1.5989134702004164]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_9","position":[0.3612117406432891,-1.6589559469998307,0.71338606911949],"aabb_xy":[[0.3262117407472702,-1.6673301825117708],[0.39621174053930797,-1.6505817114878907]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_10","position":[0.3376535254842199,-2.2882168017994475,0.71338606911949],"aabb_xy":[[0.3001535248196411,-2.3039038597996693],[0.3751535261487985,-2.272529743799225]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_11","position":[-0.21722700748693086,1.1092671672670513,0.71338606911949],"aabb_xy":[[-0.2348598430804584,1.0916442212514283],[-0.19959417189340325,1.1268901132826743]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_12","position":[0.29979559803887723,1.7597702032891624,0.71338606911949],"aabb_xy":[[0.27973718642563694,1.7397051163800048],[0.3198540096521175,1.7798352901983197]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_13","position":[-0.47121217234222357,-1.7661817067729468,0.71338606911949],"aabb_xy":[[-0.4962121716141859,-1.7825270703691092],[-0.44621217307026134,-1.7498363431767845]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_14","position":[0.15315364435839995,-2.393074233547753,0.71338606911949],"aabb_xy":[[0.1156536457827791,-2.4058105292113106],[0.1906536429340207,-2.3803379378841947]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_15","position":[0.285811366034435,1.2673901077304568,0.71338606911949],"aabb_xy":[[0.2777750313331501,1.25935198842604],[0.2938477007357198,1.2754282270348736]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_16","position":[-0.42885880409834815,-1.967999595504917,0.71338606911949],"aabb_xy":[[-0.5088588055284753,-2.0475167505175262],[-0.34885880266822095,-1.8884824404923075]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_17","position":[-0.6431359168597937,-2.413080498000142,0.71338606911949],"aabb_xy":[[-0.6525533914296564,-2.4224966751378614],[-0.6337184422899309,-2.4036643208624233]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_18","position":[-0.2828152253267006,-0.3353021219740371,0.71338606911949],"aabb_xy":[[-0.3728152218275723,-0.38121376439249527],[-0.19281522882582883,-0.2893904795555788]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_19","position":[0.44908532058377126,-2.1060923735642167,0.71338606911949],"aabb_xy":[[0.41205121115571147,-2.1404695808979257],[0.48611943001183094,-2.071715166230507]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_20","position":[-0.15138686333704587,1.215461313975656,0.71338606911949],"aabb_xy":[[-0.24138686306022,1.1923879614404762],[-0.061386863613871655,1.2385346665108359]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_21","position":[-0.5659472436902364,-0.6381578223226023,0.71338606911949],"aabb_xy":[[-0.588447244202277,-0.6606496806880006],[-0.5434472431781958,-0.6156659639572039]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_22","position":[0.6984210044858947,0.58986895218451,0.71338606911949],"aabb_xy":[[0.682359077027377,0.504868950371918],[0.7144829319444123,0.6748689539971017]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_23","position":[-0.08881142814434906,1.3691144152603791,0.71338606911949],"aabb_xy":[[-0.10204237367903034,1.3558869962383793],[-0.07558048260966775,1.3823418342823781]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_24","position":[-0.05687681356071295,-1.9625417635913087,0.71338606911949],"aabb_xy":[[-0.10687608872914911,-2.012541764867256],[-0.006877538392276783,-1.9125417623153615]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_25","position":[-0.052830339283560734,-1.3031014010209065,0.71338606911949],"aabb_xy":[[-0.0641920739368469,-1.3144698674271944],[-0.041468604630274575,-1.2917329346146182]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6920505520239735,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5405.png","name":"5405"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5405.png","name":"5405"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3356.png","name":"3356"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5087.png","name":"5087"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6163.png","name":"6163"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7329.png","name":"7329"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":666.7846755735643,"rotation_z_degrees":45.228257045006174,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0022050777739795087,0.00951353806309969,0.004404495137082413]},{"name":"camera_2","offset_m":[0.008464904754421288,0.009522331512463348,-0.011974128478477258]},{"name":"camera_3","offset_m":[-0.0035640876026710178,-0.004780693781480699,-0.006590522310373407]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[5.334695959054083e-05,-0.0012437432988724032,-0.0007551882083569334],"end_effector_yaw_offset_degrees":-0.4463357848437193},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0002474209184692487,0.00022010582998777334,-0.0015310243164122675],"end_effector_yaw_offset_degrees":-0.36958004841773606},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005904524996825406,0.0007606783194923266,-0.0003778046889868882],"end_effector_yaw_offset_degrees":-0.7303338570176463}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004946724335481919,0.0046377014561862434],"position_m":[0.27395327566451805,-0.11306229854381375,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0048736020822147215,-0.002891398282336104],"position_m":[0.23137360208221472,-0.4120913982823361,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[1.1067891835555947e-05,-0.0014490500290252574],"position_m":[0.3526110678918356,0.06455094997097474,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0020478546330948135,0.0026705329150266723],"position_m":[0.3401521453669052,0.3265705329150267,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6eb7b94e2b47db1cf7935331124a52a74fe34eb4d21e959c54be8f20813f3fac","episode_index":57,"episode_name":"episode_0057"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0057.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_5405/tex_ceiling_textures_7329/tex_floor_textures_6163/tex_table_textures_3356/tex_wall_textures_5087","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":3941874472923394104,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":3941874472923394104,"visual_seed":3941874472923394104,"scene_id":"lab_003","finished_at":"2026-09-04T02:10:40"} +{"episode_id":"ep_000058","started_at":"2026-09-04T02:10:42","dimensions":{"distractor":{"count":27,"items":[{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_0","position":[0.07028738451661298,0.7079734851502741,0.71338606911949],"aabb_xy":[[0.03528738538665731,0.7022282640746099],[0.10528738364656863,0.7137187062259381]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_1","position":[-0.5632920805249453,-2.556379376778248,0.71338606911949],"aabb_xy":[[-0.5809677111135435,-2.57405959305765],[-0.5456164499363468,-2.5386991604988447]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_2","position":[-0.38899255494095625,1.2935789824654425,0.71338606911949],"aabb_xy":[[-0.41282877258156137,1.203578981656956],[-0.3651563373003512,1.383578983273929]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_3","position":[-0.5545311521464142,-1.5621436844498386,0.71338606911949],"aabb_xy":[[-0.5723246590813306,-1.5799434300456365],[-0.5367376452114977,-1.5443439388540412]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_4","position":[-0.47824350151363676,0.877210686969911,0.71338606911949],"aabb_xy":[[-0.5157435021782154,0.8615236289696886],[-0.440743500849058,0.892897744970133]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_5","position":[0.370549355052771,-1.982206534450682,0.71338606911949],"aabb_xy":[[0.2805493564583011,-1.998457120764103],[0.460549353647241,-1.965955948137261]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_6","position":[-0.43837390027450973,-0.13231697280143528,0.71338606911949],"aabb_xy":[[-0.4596519084179819,-0.19731697512750832],[-0.4170958921310374,-0.0673169704753622]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_7","position":[-0.5075074038348901,1.5900936348974066,0.71338606911949],"aabb_xy":[[-0.5875012274134483,1.5100936323045653],[-0.4275135802563319,1.6700936374902484]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_8","position":[-0.21763896525271137,-1.8306098888480893,0.71338606911949],"aabb_xy":[[-0.22820644491081038,-1.8411549189610978],[-0.20707148559461236,-1.8200648587350807]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_9","position":[0.6477061076215953,-1.0174416657661076,0.71338606911949],"aabb_xy":[[0.5927106298009358,-1.0724416672000143],[0.7027015854422546,-0.9624416643322005]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_10","position":[0.6262247778394701,-0.7721003974057024,0.71338606911949],"aabb_xy":[[0.5762514838362095,-0.8221003979602496],[0.6761980718427304,-0.7221003968511549]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_11","position":[0.5082372047131303,0.9733510282828406,0.71338606911949],"aabb_xy":[[0.4182372049899559,0.9502776757476606],[0.5982372044363042,0.9964243808180203]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_12","position":[0.3161077598202484,-1.0464270508848497,0.71338606911949],"aabb_xy":[[0.28110775984375264,-1.0558916669324663],[0.3511077597967443,-1.036962434837233]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_13","position":[-0.44249325292234093,0.4180702888779009,0.71338606911949],"aabb_xy":[[-0.49650884920424093,0.35407028598564366],[-0.3884776566404409,0.482070291770158]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_14","position":[0.6546796674560227,-1.2795687378256448,0.71338606911949],"aabb_xy":[[0.6119129605766025,-1.3435687412474473],[0.6974463743354429,-1.2155687344038424]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_15","position":[-0.16690203323951958,1.2294419124575269,0.71338606911949],"aabb_xy":[[-0.17174562800074955,1.2245902599785428],[-0.1620584384782896,1.234293564936511]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_16","position":[0.3200849903819605,1.5736591111311795,0.71338606911949],"aabb_xy":[[0.31512897019707936,1.5511591109290583],[0.3250410105668417,1.5961591113333016]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_17","position":[-0.5726300100315294,-2.242500704375043,0.71338606911949],"aabb_xy":[[-0.613878821061444,-2.2975007038872604],[-0.5313811990016145,-2.1875007048628254]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_18","position":[0.3043261728075529,-1.8003779422139388,0.71338606911949],"aabb_xy":[[0.29172347367047646,-1.8129733384388045],[0.3169288719446294,-1.7877825459890735]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_19","position":[-0.6437242366164545,-1.0732570246202695,0.71338606911949],"aabb_xy":[[-0.6720539465649948,-1.0777177668139866],[-0.6153945266679144,-1.0687962824265524]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_20","position":[0.06716647179315949,0.9790172517943252,0.71338606911949],"aabb_xy":[[0.049619776877040556,0.9415172502300738],[0.08471316670927842,1.0165172533585762]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_21","position":[-0.3536828069030682,-1.6850519521181235,0.71338606911949],"aabb_xy":[[-0.39118280547868894,-1.6977882477816812],[-0.31618280832744733,-1.6723156564545654]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_22","position":[-0.3633078327033847,-1.923758258994574,0.71338606911949],"aabb_xy":[[-0.37072028824477316,-1.9296094694162016],[-0.3558953771619962,-1.9179070485729457]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_23","position":[-0.05551135342458402,-2.3504580522509073,0.71338606911949],"aabb_xy":[[-0.11051135162632886,-2.3909800188773445],[-0.0005113552228391895,-2.3099360856244693]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_24","position":[-0.5411148407816716,-1.7525940615737285,0.71338606911949],"aabb_xy":[[-0.5911148418008069,-1.789060277311557],[-0.49111483976253634,-1.716127845835901]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_25","position":[0.3766830431665844,-2.1984770946837267,0.71338606911949],"aabb_xy":[[0.3480337108061682,-2.2271226539608016],[0.40533237552700063,-2.16983153540665]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_26","position":[0.06989942275936423,1.6322171211872543,0.71338606911949],"aabb_xy":[[0.052399422514314835,1.6147173333476874],[0.0873994230044136,1.649716909026821]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6941559477542033,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7852.png","name":"7852"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7852.png","name":"7852"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1952.png","name":"1952"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2255.png","name":"2255"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5874.png","name":"5874"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1951.png","name":"1951"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":566.4179498423147,"rotation_z_degrees":333.29932805596474,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014259689238967772,-0.006821145597470792,0.015607169466022561]},{"name":"camera_2","offset_m":[0.00028673049277276944,-0.007664602839044328,-0.009601561703918118]},{"name":"camera_3","offset_m":[-0.0009403480817361427,0.00022264203060057622,-0.01288039343516774]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006886569067307985,-0.0001964613634565437,-0.0011044298965526723],"end_effector_yaw_offset_degrees":0.9478254107753841},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012718792548065644,-0.001025321980804868,0.001512526283568326],"end_effector_yaw_offset_degrees":0.6459734422835146},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001605695938284588,0.00026559697319946014,-0.0013303349825656379],"end_effector_yaw_offset_degrees":-0.19713983844199312}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0012049365789861136,0.0020917641300843203],"position_m":[0.2801049365789861,-0.11560823586991568,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.000535395601526498,0.00331702812580303],"position_m":[0.22596460439847352,-0.405882971874197,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0022449515010123213,-0.0009774342457280752],"position_m":[0.3503550484989877,0.06502256575427193,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0036822347994640786,-0.0036789209849626614],"position_m":[0.34588223479946406,0.3202210790150374,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6c7db4f43e4b8a4da37bd7b327cd0f32361ec0911bf1793831e7a8e77907d7c1","episode_index":58,"episode_name":"episode_0058"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0058.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_7852/tex_ceiling_textures_1951/tex_floor_textures_5874/tex_table_textures_1952/tex_wall_textures_2255","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":634309871248595734,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":634309871248595734,"visual_seed":634309871248595734,"scene_id":"lab_003","finished_at":"2026-09-04T02:13:35"} +{"episode_id":"ep_000059","started_at":"2026-09-04T02:13:43","dimensions":{"distractor":{"count":27,"items":[{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_0","position":[-0.620102308084062,-1.1653887346226839,0.71338606911949],"aabb_xy":[[-0.6538778672747549,-1.179427229835849],[-0.586326748893369,-1.1513502394095187]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_1","position":[-0.4752111402910474,0.8553935309222758,0.71338606911949],"aabb_xy":[[-0.5392111405515181,0.8103847315693479],[-0.41121114003057657,0.9004023302752039]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_2","position":[0.5731561590526646,-1.5953295201125628,0.71338606911949],"aabb_xy":[[0.5481561591201467,-1.6022121883334863],[0.5981561589851825,-1.5884468518916397]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_3","position":[0.32957154157065904,-1.3180639299185226,0.71338606911949],"aabb_xy":[[0.2655715429840866,-1.3650708933180313],[0.3935715401572315,-1.271056966519014]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_4","position":[0.3164986475547731,-1.4739445884913474,0.71338606911949],"aabb_xy":[[0.2814986492846532,-1.4810187161863355],[0.351498645824893,-1.4668704607963592]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_5","position":[-0.1712598142729348,-2.3678634966804477,0.71338606911949],"aabb_xy":[[-0.22123310827619524,-2.4178634972349946],[-0.12128652026967435,-2.3178634961259]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_6","position":[0.38468825056095834,-1.6755055600182804,0.71338606911949],"aabb_xy":[[0.31968825240503934,-1.7018018045681926],[0.44968824871687746,-1.6492093154683682]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_7","position":[-0.43292557003662596,0.6697259793058596,0.71338606911949],"aabb_xy":[[-0.45035628511563236,0.6524538646420087],[-0.41549485495761934,0.6869980939697103]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_8","position":[-0.5645211941956662,-2.456927200731856,0.71338606911949],"aabb_xy":[[-0.5725151827733695,-2.4649272808269456],[-0.5565272056179628,-2.4489271206367653]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_9","position":[0.5977176955253907,-1.2804512560363202,0.71338606911949],"aabb_xy":[[0.588086059304961,-1.290088568816029],[0.6073493317458203,-1.2708139432566112]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_10","position":[0.5723119823507727,-2.324728974255846,0.71338606911949],"aabb_xy":[[0.537311982374277,-2.334193590303463],[0.6073119823272687,-2.3152643582082293]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_11","position":[-0.5708985643846107,1.6298236113624012,0.71338606911949],"aabb_xy":[[-0.6546207898846932,1.5398236078277052],[-0.48717633888452827,1.7198236148970971]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_12","position":[-0.30982352283801406,-0.9936006514133966,0.71338606911949],"aabb_xy":[[-0.3276926305924695,-1.0074335593906074],[-0.2919544150835585,-0.9797677434361856]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_13","position":[0.6711844359077013,1.0024553191506582,0.71338606911949],"aabb_xy":[[0.6466708118106954,0.9781907258486218],[0.6956980600047071,1.0267199124526947]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_14","position":[0.4009532775028535,0.7140012358439658,0.71338606911949],"aabb_xy":[[0.3112662011947381,0.6240012355895153],[0.490640353810969,0.8040012360984163]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_15","position":[0.6553492243111922,-0.5471444210497545,0.71338606911949],"aabb_xy":[[0.6210523132934515,-0.5814413072596957],[0.6896461353289326,-0.512847534839813]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_16","position":[-0.3997461249354091,1.3729470825334236,0.71338606911949],"aabb_xy":[[-0.43318630013142867,1.339503456702493],[-0.36630594973938946,1.4063907083643532]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_17","position":[-0.23956100051743123,-2.515848662552585,0.71338606911949],"aabb_xy":[[-0.289377779982266,-2.5658486610368882],[-0.18974422105259645,-2.4658486640682815]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_18","position":[-0.10460671541670719,-0.049075888803412404,0.71338606911949],"aabb_xy":[[-0.16460671526327397,-0.10589451099645109],[-0.0446067155701404,0.007742733389626277]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_19","position":[0.2708122253994344,1.1207118047731162,0.71338606911949],"aabb_xy":[[0.22956341436951963,1.0657118052608985],[0.31206103642934907,1.1757118042853334]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_20","position":[-0.64194748492993,-2.146573131669327,0.71338606911949],"aabb_xy":[[-0.6787421180548363,-2.1834790067659093],[-0.6051528518050238,-2.109667256572745]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_21","position":[0.404689597369851,1.3428726768877448,0.71338606911949],"aabb_xy":[[0.3546895963507158,1.3064064611499169],[0.45468959838898637,1.3793388926255727]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_22","position":[0.0788918439207077,1.2560812234439824,0.71338606911949],"aabb_xy":[[0.014891842242710326,1.2075638319646682],[0.14289184559870505,1.3045986149232967]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_23","position":[-0.3532031512841152,-0.6901887057058265,0.71338606911949],"aabb_xy":[[-0.37509289887305597,-0.7801887029950755],[-0.33131340369517437,-0.6001887084165772]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_24","position":[-0.0896518968456238,1.4329587231630678,0.71338606911949],"aabb_xy":[[-0.169651898275751,1.3534415681504584],[-0.009651895415496603,1.5124758781756773]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_25","position":[0.04209806871077404,-2.573089455444894,0.71338606911949],"aabb_xy":[[0.004598068605181082,-2.579911617297875],[0.07959806881636698,-2.5662672935919133]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_26","position":[0.65439180722399,-0.3632994603900985,0.71338606911949],"aabb_xy":[[0.6331137990805178,-0.42829946271617153],[0.6756698153674623,-0.2982994580640254]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6887735630462533,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5210.png","name":"5210"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5210.png","name":"5210"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9144.png","name":"9144"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7163.png","name":"7163"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9164.png","name":"9164"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/18.png","name":"18"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":746.9268521172775,"rotation_z_degrees":326.15535672078175,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006063286999573481,0.0031202578583088246,0.009090809885901389]},{"name":"camera_2","offset_m":[-0.009517927077432802,-0.01617169402132772,0.012414354635086344]},{"name":"camera_3","offset_m":[0.01298821408929533,-0.01294174177709976,-0.018858208787535073]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012627226827424964,0.0014544395875530102,0.0017251326726660408],"end_effector_yaw_offset_degrees":0.9897802499606665},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001458132635230978,0.001626471022257691,3.890565713767381e-06],"end_effector_yaw_offset_degrees":0.2613001235587984},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0003017877362191687,-0.0007951937775480906,0.0012105260140987204],"end_effector_yaw_offset_degrees":0.530542882899903}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0023017602648083293,-0.003866688925084691],"position_m":[0.27659823973519165,-0.1215666889250847,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004871115764115965,0.002822590056079876],"position_m":[0.23137111576411598,-0.40637740994392013,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004583886599851083,-0.0037719162457127598],"position_m":[0.3571838865998511,0.06222808375428724,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002209713995055026,-0.004023681648570974],"position_m":[0.33999028600494496,0.31987631835142905,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0a6d5af070a6841de15c2ba51d3f5d541869ebef60c4ae7d94443fdd6b2b2c85","episode_index":59,"episode_name":"episode_0059"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0059.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_5210/tex_ceiling_textures_18/tex_floor_textures_9164/tex_table_textures_9144/tex_wall_textures_7163","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":8366919151538319911,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":8366919151538319911,"visual_seed":8366919151538319911,"scene_id":"lab_003","finished_at":"2026-09-04T02:16:36"} +{"episode_id":"ep_000060","started_at":"2026-09-04T02:16:40","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_0","position":[-0.031292241478926286,0.9172923841827827,0.71338606911949],"aabb_xy":[[-0.05651307833876595,0.8920686333298958],[-0.006071404619086617,0.9425161350356693]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_1","position":[0.4076595534554168,-0.4576556439110493,0.71338606911949],"aabb_xy":[[0.35765955243628167,-0.49412185964887734],[0.45765955447455225,-0.42118942817322147]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_2","position":[-0.05593004167973814,-1.8904165376678759,0.71338606911949],"aabb_xy":[[-0.06601174875831162,-1.9704165355599905],[-0.04584833460116466,-1.8104165397757612]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_3","position":[0.46941902352263565,-1.7311514291821846,0.71338606911949],"aabb_xy":[[0.43597884832661604,-1.7645950550131142],[0.5028591987186553,-1.697707803351254]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_4","position":[0.1625120379996834,1.2829963049909154,0.71338606911949],"aabb_xy":[[0.11253462113442976,1.232996303501667],[0.21248945486493692,1.332996306480164]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_5","position":[0.17708290384820202,-1.9919947075270388,0.71338606911949],"aabb_xy":[[0.12708979173901014,-2.0419947082012344],[0.22707601595739393,-1.9419947068528431]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_6","position":[-0.31599987811038566,-1.3865991143316942,0.71338606911949],"aabb_xy":[[-0.3611711959585547,-1.4505991114762327],[-0.27082856026221674,-1.3225991171871558]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_7","position":[0.5310891151150465,-2.2172896086927185,0.71338606911949],"aabb_xy":[[0.4810891156748508,-2.2672575331770344],[0.581089114555242,-2.1673216842084018]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_8","position":[-0.5560041109337251,0.7296994173004436,0.71338606911949],"aabb_xy":[[-0.6060041122946123,0.6797215127250279],[-0.5060041095728378,0.7796773218758591]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_9","position":[-0.5533500627485101,-0.4769179376164634,0.71338606911949],"aabb_xy":[[-0.6173500647982421,-0.5170124207057714],[-0.48935006069877807,-0.4368234545271555]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_10","position":[0.03429459336292684,-1.4099754757948681,0.71338606911949],"aabb_xy":[[-0.035705403047034956,-1.4304134114465494],[0.10429458977288861,-1.389537540143186]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_11","position":[0.46379965083892793,-0.9810462049768001,0.71338606911949],"aabb_xy":[[0.413799649888395,-1.0125953519803215],[0.5137996517894606,-0.9494970579732787]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_12","position":[0.3627269037249692,-1.3124212771593604,0.71338606911949],"aabb_xy":[[0.3252269036193762,-1.3192434390123415],[0.4002269038305621,-1.3055991153063793]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_13","position":[0.2993140645888416,1.2199780380539815,0.71338606911949],"aabb_xy":[[0.28375829517857637,1.2044276048095746],[0.3148698339991069,1.235528471298389]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_14","position":[0.5698905689921399,1.0342567306841604,0.71338606911949],"aabb_xy":[[0.5058905687181615,0.9841906304868724],[0.633890569266118,1.0843228308814483]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_15","position":[-0.2635345056201682,-0.8296361535704453,0.71338606911949],"aabb_xy":[[-0.32753450588063904,-0.8746449529233732],[-0.19953450535969744,-0.7846273542175172]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_16","position":[-0.4773404480670329,1.0510734218992113,0.71338606911949],"aabb_xy":[[-0.5073080049768586,1.0210734216013255],[-0.44737289115720724,1.081073422197097]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_17","position":[0.25110452943390427,0.990537528565965,0.71338606911949],"aabb_xy":[[0.24175752185160904,0.9762339063483211],[0.2604515370161995,1.004841150783609]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_18","position":[-0.002465150336022348,1.7312952107991557,0.71338606911949],"aabb_xy":[[-0.05746062815668174,1.6762952093652486],[0.05253032748463704,1.7862952122330624]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_19","position":[0.6852628750758898,1.4840466652618631,0.71338606911949],"aabb_xy":[[0.6653718351955497,1.4713908539771665],[0.7051539149562301,1.4967024765465602]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_20","position":[-0.510731295833187,0.3392379684981024,0.71338606911949],"aabb_xy":[[-0.5231986539429226,0.3267726438647789],[-0.49826393772345134,0.3517032931314259]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_21","position":[-0.1549509175194338,-0.1413953468976641,0.71338606911949],"aabb_xy":[[-0.1860978363630169,-0.21139534558447126],[-0.12380399867585068,-0.07139534821085691]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_22","position":[-0.4748026604649956,1.7564972429024022,0.71338606911949],"aabb_xy":[[-0.5398026604992983,1.7097965662220749],[-0.40980266043069286,1.8031979195827295]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_23","position":[0.18289397803033625,-2.5168131321655896,0.71338606911949],"aabb_xy":[[0.17164892245971838,-2.528054929889685],[0.19413903360095405,-2.5055713344414943]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_24","position":[-0.4561854018836097,-1.8926412628004332,0.71338606911949],"aabb_xy":[[-0.464179390461313,-1.9006413428955236],[-0.4481914133059062,-1.8846411827053429]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_25","position":[0.6006729928676118,-0.22056663654937791,0.71338606911949],"aabb_xy":[[0.5947064539268759,-0.22652778120874192],[0.6066395318083474,-0.21460549189001385]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6889299702423536,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3576.png","name":"3576"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3576.png","name":"3576"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6571.png","name":"6571"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9105.png","name":"9105"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/754.png","name":"754"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1463.png","name":"1463"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":572.071951759695,"rotation_z_degrees":357.70490917342903,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012244906910810555,0.01252672214823861,-0.015879169228979678]},{"name":"camera_2","offset_m":[0.019804494777688867,0.017601708121646718,-0.014096484836987324]},{"name":"camera_3","offset_m":[-0.016358202938450896,0.0005675009415318476,0.010627251088183562]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001032738996115687,0.0018686222370110535,0.0016344635579798698],"end_effector_yaw_offset_degrees":-0.6886280072658562},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011149011059378299,0.0001627600283369856,0.001955270145321341],"end_effector_yaw_offset_degrees":-0.3647838297070094},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00040001518409558045,0.0017674725281243563,0.001494102719227787],"end_effector_yaw_offset_degrees":-0.21652517418152417}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0035539009443087974,-0.004640417192927106],"position_m":[0.2824539009443088,-0.1223404171929271,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0011139912126626951,-0.0011158981967862394],"position_m":[0.2253860087873373,-0.41031589819678627,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004731568695988331,-0.0004027707552512324],"position_m":[0.35733156869598837,0.06559722924474877,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0034228874301052868,-0.0013865614485931268],"position_m":[0.33877711256989473,0.3225134385514069,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1911690a4f76f17da5ee56b5c25cc7dbebb7527ec744b8cc82fa8152f114e91b","episode_index":60,"episode_name":"episode_0060"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0060.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_3576/tex_ceiling_textures_1463/tex_floor_textures_754/tex_table_textures_6571/tex_wall_textures_9105","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":7720091209131844960,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":7720091209131844960,"visual_seed":7720091209131844960,"scene_id":"lab_003","finished_at":"2026-09-04T02:19:33"} +{"episode_id":"ep_000061","started_at":"2026-09-04T02:19:37","dimensions":{"distractor":{"count":23,"items":[{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_0","position":[-0.19280070821388884,-0.1605750312110903,0.71338606911949],"aabb_xy":[[-0.2728007086841048,-0.16888573882543867],[-0.1128007077436729,-0.1522643235967419]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_1","position":[0.19438902760376753,0.7165932438074698,0.71338606911949],"aabb_xy":[[0.15735491817570782,0.6822160364737603],[0.23142313703182724,0.7509704511411791]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_2","position":[0.5662171308166404,1.2384696736216054,0.71338606911949],"aabb_xy":[[0.5412171315446781,1.222124310025443],[0.5912171300886027,1.2548150372177678]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_3","position":[-0.5554575204902743,-2.267390402787335,0.71338606911949],"aabb_xy":[[-0.6354575184710594,-2.274991943749187],[-0.4754575225094893,-2.259788861825483]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_4","position":[-0.431004071440757,0.2774033989623157,0.71338606911949],"aabb_xy":[[-0.4950040731187543,0.22888600748300142],[-0.36700406976275957,0.32592079044162986]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_5","position":[0.08117983782296756,-2.38174787227861,0.71338606911949],"aabb_xy":[[0.07514282482230285,-2.387774573347558],[0.0872168508236323,-2.375721171209662]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_6","position":[-0.15916092218546785,0.2001656286859146,0.71338606911949],"aabb_xy":[[-0.1628641835146067,0.19646361037719667],[-0.15545766085632895,0.2038676469946324]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_7","position":[0.23180007783790146,-2.2947497871965403,0.71338606911949],"aabb_xy":[[0.16780007746036782,-2.344495054047352],[0.2958000782154351,-2.2450045203457276]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_8","position":[-0.059558076646202385,-1.6015710002852956,0.71338606911949],"aabb_xy":[[-0.08455807619794087,-1.6117134841504301],[-0.034558077094463895,-1.5914285164201607]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_9","position":[0.04137663465030794,-1.8962271860467697,0.71338606911949],"aabb_xy":[[-0.013616576686828818,-1.951227186385564],[0.09636984598744472,-1.8412271857079767]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_10","position":[-0.4509909970215709,-0.5366749769605534,0.71338606911949],"aabb_xy":[[-0.48138910812071445,-0.5670818789622228],[-0.4205928859224273,-0.5062680749588838]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_11","position":[0.4710916616171028,1.6428252417189761,0.71338606911949],"aabb_xy":[[0.40709166244733286,1.5960585546000134],[0.5350916607868728,1.6895919288379384]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_12","position":[-0.03723305872814886,-2.222185802445268,0.71338606911949],"aabb_xy":[[-0.048073536954663765,-2.239372083735917],[-0.026392580501633955,-2.2049995211546194]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_13","position":[-0.3417294980884096,-2.173670147292093,0.71338606911949],"aabb_xy":[[-0.34782412597652795,-2.182239541843762],[-0.3356348702002913,-2.1651007527404245]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_14","position":[-0.2642310531243735,0.9770441470506475,0.71338606911949],"aabb_xy":[[-0.32923105168144634,0.947291613636765],[-0.19923105456730067,1.00679668046453]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_15","position":[0.1317905555558062,-2.011359366254303,0.71338606911949],"aabb_xy":[[0.06179055291921984,-2.0314642312501685],[0.20179055819239253,-1.9912545012584375]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_16","position":[0.2813585273564134,1.096951599870347,0.71338606911949],"aabb_xy":[[0.26224621999843456,1.0778168209931047],[0.3004708347143923,1.1160863787475888]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_17","position":[0.2460777084104293,-1.3458391048709677,0.71338606911949],"aabb_xy":[[0.1961950115327331,-1.3958391041172427],[0.2959604052881255,-1.2958391056246932]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_18","position":[-0.6034703229048229,-1.4076093708340993,0.71338606911949],"aabb_xy":[[-0.6069109991448801,-1.411470803808464],[-0.6000296466647658,-1.403747937859735]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_19","position":[0.679384906121469,-2.3539639282359337,0.71338606911949],"aabb_xy":[[0.6568849063075665,-2.3584385446064147],[0.7018849059353712,-2.3494893118654536]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_20","position":[-0.29826885665570774,1.343214480900944,0.71338606911949],"aabb_xy":[[-0.3482619687648997,1.2932144802267485],[-0.2482757445465159,1.3932144815751397]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_21","position":[0.00022633130391602752,1.2232617993946708,0.71338606911949],"aabb_xy":[[-0.04977366997992393,1.1732829450040485],[0.05022633258775599,1.2732406537852927]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_22","position":[-0.6193393524805879,-1.6558841215793918,0.71338606911949],"aabb_xy":[[-0.669323588188765,-1.7058841203928874],[-0.5693551167724106,-1.6058841227658962]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6969098399550248,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8846.png","name":"8846"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8846.png","name":"8846"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2452.png","name":"2452"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5380.png","name":"5380"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1193.png","name":"1193"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/529.png","name":"529"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":523.6842553492505,"rotation_z_degrees":193.59722296554858,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018671915540557093,-0.0038393859273563313,0.015343388200632437]},{"name":"camera_2","offset_m":[-0.014291900500626568,0.002733974510698768,0.017169537745625515]},{"name":"camera_3","offset_m":[-0.010835386011892364,0.015074067786586678,-0.015221604301962217]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012739219208787365,0.0006529880908145692,0.0019362722507536446],"end_effector_yaw_offset_degrees":-0.18042003304680265},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007467224477541246,0.0018302046183915864,-0.0007780309900226605],"end_effector_yaw_offset_degrees":0.3600758827095192},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0003102937741099607,-0.0013835077917448127,0.0016816041104122381],"end_effector_yaw_offset_degrees":0.6801823832568734}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004627649527909281,-0.004822012627313631],"position_m":[0.28352764952790926,-0.12252201262731363,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002664238347279665,-0.0026495512017255442],"position_m":[0.22383576165272034,-0.41184955120172556,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0006814273242832913,-0.00060397902322013],"position_m":[0.35191857267571675,0.06539602097677988,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003838581492053991,0.0019523867039215126],"position_m":[0.346038581492054,0.3258523867039215,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9bf2bf24ca8ec639fb691310234badd65af8900fcaee115655fb6f997b8f9941","episode_index":61,"episode_name":"episode_0061"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0061.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_8846/tex_ceiling_textures_529/tex_floor_textures_1193/tex_table_textures_2452/tex_wall_textures_5380","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":506724702007839240,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":506724702007839240,"visual_seed":506724702007839240,"scene_id":"lab_003","finished_at":"2026-09-04T02:22:30"} +{"episode_id":"ep_000062","started_at":"2026-09-04T02:22:33","dimensions":{"distractor":{"count":27,"items":[{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_0","position":[-0.6329742617990559,-0.5933022658149092,0.71338606911949],"aabb_xy":[[-0.6613039717475961,-0.5977630080086264],[-0.6046445518505157,-0.5888415236211922]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_1","position":[0.6920738563898998,-0.662359270813663,0.71338606911949],"aabb_xy":[[0.6620821936560294,-0.6923592701504634],[0.72206551912377,-0.6323592714768623]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_2","position":[0.192911887055484,1.1957986606216693,0.71338606911949],"aabb_xy":[[0.18498860681673568,1.173298660383666],[0.20083516729423234,1.2182986608596726]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_3","position":[-0.473958447647278,0.5777313511661641,0.71338606911949],"aabb_xy":[[-0.5389584487532213,0.5527659780980358],[-0.4089584465413348,0.6026967242342924]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_4","position":[0.2937249914861134,-2.122214274767465,0.71338606911949],"aabb_xy":[[0.22972499078264413,-2.1682326572403863],[0.3577249921895828,-2.0761958922945443]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_5","position":[-0.38147563408995144,0.8372565437244788,0.71338606911949],"aabb_xy":[[-0.4391061029772222,0.7772565447977678],[-0.32384516520268053,0.897256542651189]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_6","position":[0.48414812788351047,-1.4774280308276908,0.71338606911949],"aabb_xy":[[0.41414812449194843,-1.5127438045311217],[0.5541481312750723,-1.44211225712426]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_7","position":[0.13942196893141046,-1.8541380470012787,0.71338606911949],"aabb_xy":[[0.13138563423012561,-1.8621761663056955],[0.1474583036326953,-1.846099927696862]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_8","position":[-0.02772953520721244,-1.765029327982437,0.71338606911949],"aabb_xy":[[-0.04283183666823053,-1.7801308496134984],[-0.012627233746194342,-1.7499278063513746]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_9","position":[0.4947108661151638,1.0137167479239437,0.71338606911949],"aabb_xy":[[0.4883987665788254,1.0079498086707248],[0.5010229656515022,1.0194836871771626]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_10","position":[0.021183927051497853,1.2685696547896246,0.71338606911949],"aabb_xy":[[-0.0020979151466334884,1.1835696534923963],[0.04446576924962919,1.3535696560868524]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_11","position":[-0.35974812251328314,1.0966558908243127,0.71338606911949],"aabb_xy":[[-0.4197481227646843,1.042374565787848],[-0.29974812226188197,1.1509372158607774]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_12","position":[0.41906339821308447,-1.763449959259153,0.71338606911949],"aabb_xy":[[0.3965633979695692,-1.775654593918925],[0.4415633984566,-1.751245324599381]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_13","position":[0.24286183705991082,0.7464862105645866,0.71338606911949],"aabb_xy":[[0.2302591379228344,0.733890814339721],[0.2554645361969873,0.759081606789452]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_14","position":[-0.6466682688901548,-0.3114079901186897,0.71338606911949],"aabb_xy":[[-0.6834629020150612,-0.34831386521527197],[-0.6098736357652487,-0.2745021150221074]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_15","position":[0.21131327990951698,-0.7152619881440432,0.71338606911949],"aabb_xy":[[0.17006446887960222,-0.7702619876562605],[0.25256209093943166,-0.6602619886318256]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_16","position":[-0.1745538949005253,0.08308308713868229,0.71338606911949],"aabb_xy":[[-0.1798914705665299,0.058083086209542514],[-0.16921631923452077,0.10808308806782209]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_17","position":[-0.4606647210070895,-0.34638165711017255,0.71338606911949],"aabb_xy":[[-0.5406647180213375,-0.3665162087835838],[-0.38066472399284146,-0.3262471054367613]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_18","position":[0.1351761024130823,-1.1573630976089677,0.71338606911949],"aabb_xy":[[0.1264621333631478,-1.1798630982681557],[0.14389007146301677,-1.1348630969497793]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_19","position":[-0.05217226355877291,0.908402424121399,0.71338606911949],"aabb_xy":[[-0.13217226214609232,0.8290868221832381],[0.027827735028546508,0.9877180260595599]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_20","position":[-0.2728531113177876,-0.545765133954403,0.71338606911949],"aabb_xy":[[-0.33685311336751955,-0.585859617043711],[-0.20885310926805556,-0.5056706508650951]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_21","position":[0.18654599713652809,-0.9632761926334164,0.71338606911949],"aabb_xy":[[0.13654599769633244,-1.0132441171177327],[0.23654599657672368,-0.9133082681490999]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_22","position":[-0.2850647468612903,-2.4160592850912823,0.71338606911949],"aabb_xy":[[-0.3450647474573064,-2.470871757636506],[-0.22506474626527406,-2.361246812546059]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_23","position":[0.4452784476715501,-2.3237440687653974,0.71338606911949],"aabb_xy":[[0.39527844638771015,-2.373722923156019],[0.4952784489553901,-2.273765214374775]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_24","position":[-0.15487826989310138,-2.0179646784943697,0.71338606911949],"aabb_xy":[[-0.20987374771376077,-2.0729646799282766],[-0.099882792072442,-1.9629646770604627]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_25","position":[-0.5547208273837921,1.048512602237905,0.71338606911949],"aabb_xy":[[-0.5772208271976946,1.0440379858674242],[-0.5322208275698899,1.0529872186083857]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_26","position":[-0.16375955655228946,-1.0494213166953055,0.71338606911949],"aabb_xy":[[-0.24375338013084769,-1.129421319288147],[-0.08376573297373124,-0.9694213141024639]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6918287860125556,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8653.png","name":"8653"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8653.png","name":"8653"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4550.png","name":"4550"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3844.png","name":"3844"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6338.png","name":"6338"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1938.png","name":"1938"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":810.8917758165258,"rotation_z_degrees":290.2881360874037,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015973900829529392,0.014154880878322406,-0.0029713777155023907]},{"name":"camera_2","offset_m":[-0.012409577770644682,0.01897521321149011,0.016436079248097524]},{"name":"camera_3","offset_m":[0.01331392982350978,-0.006041806563519762,-0.013995783817136119]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0005544194333781678,-0.0017324966040833606,0.00038675636358416476],"end_effector_yaw_offset_degrees":-0.4504657794806859},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0019759216369990623,0.001202984615215754,0.0005131611502529774],"end_effector_yaw_offset_degrees":-0.38298939812527144},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019765653123803148,-0.0003384284752065887,0.0006973938634125079],"end_effector_yaw_offset_degrees":-0.733815446497819}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00031821541504316493,-0.001070017824773087],"position_m":[0.27921821541504316,-0.11877001782477309,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0013103116356130919,0.003059406930119535],"position_m":[0.2251896883643869,-0.4061405930698805,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00010851286703310661,0.003585761818589983],"position_m":[0.35270851286703314,0.06958576181858998,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0006049037057232701,-0.0005140166596677258],"position_m":[0.34159509629427676,0.3233859833403323,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"909aabc9e1dc6ec7a052b44840a8de317b2a7f3936d2b7eeccae777a95790fca","episode_index":62,"episode_name":"episode_0062"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0062.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_8653/tex_ceiling_textures_1938/tex_floor_textures_6338/tex_table_textures_4550/tex_wall_textures_3844","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":7510262921657061877,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":7510262921657061877,"visual_seed":7510262921657061877,"scene_id":"lab_003","finished_at":"2026-09-04T02:25:16"} +{"episode_id":"ep_000063","started_at":"2026-09-04T02:25:19","dimensions":{"distractor":{"count":27,"items":[{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_0","position":[-0.20080943277982194,-0.005346414301053759,0.71338606911949],"aabb_xy":[[-0.21901525644106967,-0.0163718148830454],[-0.18260360911857432,0.005678986280937882]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_1","position":[0.02174315977632746,-1.546565130354598,0.71338606911949],"aabb_xy":[[-0.023428158071841516,-1.6105651274991368],[0.06691447762449644,-1.4825651332100598]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_2","position":[-0.4468678865192506,0.3494914660324575,0.71338606911949],"aabb_xy":[[-0.5118678874763778,0.29754325409875193],[-0.38186788556212337,0.4014396779661631]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_3","position":[0.33209113834356163,1.1396734583532324,0.71338606911949],"aabb_xy":[[0.2770988877080507,1.0846734566099199],[0.38708338897907263,1.1946734600965454]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_4","position":[0.640724004731076,-0.858517877941283,0.71338606911949],"aabb_xy":[[0.6330208140569991,-0.8662272486400209],[0.648427195405153,-0.8508085072425449]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_5","position":[-0.21656856447422707,-0.34764416659305697,0.71338606911949],"aabb_xy":[[-0.23406856375231394,-0.36498226665940287],[-0.1990685651961402,-0.33030606652671096]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_6","position":[0.16995174960912507,-1.6913235802510775,0.71338606911949],"aabb_xy":[[0.11995174865859223,-1.7228727272545985],[0.21995175055965785,-1.6597744332475557]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_7","position":[-0.127223020739472,0.22203273444987737,0.71338606911949],"aabb_xy":[[-0.13521651053475403,0.21403460250940173],[-0.11922953094418998,0.23003086639035306]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_8","position":[0.5331454928729045,0.9906542639055087,0.71338606911949],"aabb_xy":[[0.5106490714390404,0.9681542640987614],[0.5556419143067686,1.0131542637122561]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_9","position":[-0.19877006002483483,-1.6182611100954183,0.71338606911949],"aabb_xy":[[-0.2884571363329503,-1.708261110349869],[-0.10908298371671937,-1.528261109840968]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_10","position":[0.3281775716766697,1.2999550840515628,0.71338606911949],"aabb_xy":[[0.27817757001517496,1.2499566417958596],[0.3781775733381645,1.349953526307265]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_11","position":[0.49994216365662747,-0.5935857425252409,0.71338606911949],"aabb_xy":[[0.4649421653459321,-0.6013007574487864],[0.5349421619673229,-0.5858707276016951]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_12","position":[-0.1641376277352916,-0.2638271406493726,0.71338606911949],"aabb_xy":[[-0.24413762880841194,-0.27360518698675707],[-0.08413762666217128,-0.2540490943119882]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_13","position":[-0.3732119114969043,1.0759533394331724,0.71338606911949],"aabb_xy":[[-0.40884106739686404,1.0403206726763194],[-0.33758275559694456,1.1115860061900253]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_14","position":[-0.6254512999094674,-0.12124113335113318,0.71338606911949],"aabb_xy":[[-0.6336658450251511,-0.12991772364877444],[-0.6172367547937831,-0.11256454305349188]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_15","position":[-0.25889986137918103,-1.1717764747050996,0.71338606911949],"aabb_xy":[[-0.2665241294693593,-1.1794096982416433],[-0.25127559328900284,-1.1641432511685559]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_16","position":[0.4532150588322714,-0.48035968134388085,0.71338606911949],"aabb_xy":[[0.44058827154507507,-0.48990575504545375],[0.4658418461194678,-0.47081360764230795]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_17","position":[0.2822866747106114,-2.498822906465698,0.71338606911949],"aabb_xy":[[0.27694909904460685,-2.5238229073948384],[0.287624250376616,-2.473822905536559]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_18","position":[-0.23770895082533255,-1.9513741543001786,0.71338606911949],"aabb_xy":[[-0.32270894951740725,-1.9833600176950572],[-0.15270895213325794,-1.9193882909052995]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_19","position":[-0.19087302755298785,0.4873908469607944,0.71338606911949],"aabb_xy":[[-0.2508730280608407,0.4305441132748731],[-0.1308730270451349,0.5442375806467157]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_20","position":[0.30863303741190173,-0.5198511321653347,0.71338606911949],"aabb_xy":[[0.30451708729982907,-0.5239666871981802],[0.3127489875239744,-0.5157355771324891]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_21","position":[-0.057357060606644916,1.4711299307886754,0.71338606911949],"aabb_xy":[[-0.06743876768521839,1.3911299328965605],[-0.04727535352807143,1.5511299286807898]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_22","position":[0.5395975749827888,-0.17642524713956087,0.71338606911949],"aabb_xy":[[0.5226868425464469,-0.18989745273217537],[0.5565083074191305,-0.16295304154694631]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_23","position":[0.5830520910471508,0.15367522412863366,0.71338606911949],"aabb_xy":[[0.5655053961310319,0.11617522256438242],[0.6005987859632698,0.19117522569288495]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_24","position":[0.2113740692286935,-2.3447156865265706,0.71338606911949],"aabb_xy":[[0.15638085789155673,-2.399715686865364],[0.26636728056583026,-2.289715686187777]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_25","position":[0.04850728478945188,0.8249749803295456,0.71338606911949],"aabb_xy":[[-0.0314927154841551,0.7520254325038288],[0.12850728506305883,0.8979245281552622]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_26","position":[-0.617157516408343,1.268224013474748,0.71338606911949],"aabb_xy":[[-0.6236591529163477,1.2584561914484382],[-0.6106558799003384,1.2779918355010578]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6961696286514616,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7999.png","name":"7999"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7999.png","name":"7999"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1179.png","name":"1179"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8166.png","name":"8166"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4898.png","name":"4898"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9067.png","name":"9067"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":788.647430619383,"rotation_z_degrees":112.20658821974291,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011531573787808353,-0.0025147543908659482,0.009228964194754705]},{"name":"camera_2","offset_m":[0.017708024606922234,0.012289636773200868,0.0026962134579658695]},{"name":"camera_3","offset_m":[-0.0041119938927692,0.01800204962361476,0.013810434316845203]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014665156412915878,-0.0017615634376656787,-0.001498487634531076],"end_effector_yaw_offset_degrees":0.5702544146531043},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0001651841906184304,0.001021065843709969,-0.001210696464129486],"end_effector_yaw_offset_degrees":-0.3865271469918148},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013495640276613079,0.0015094351731726207,-0.0019978513846300337],"end_effector_yaw_offset_degrees":0.20192181980355817}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0026467431292990506,0.0011461757104127088],"position_m":[0.28154674312929906,-0.11655382428958729,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006974511416419195,0.0012265503127706408],"position_m":[0.2258025488583581,-0.4079734496872294,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00018971735916872064,0.0039842774362827465],"position_m":[0.35278971735916875,0.06998427743628274,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0029466730351266545,0.0020550725344109858],"position_m":[0.34514667303512664,0.32595507253441103,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"51405e5eb04056bba30371d15af380c9a6eab7da3d594451dea213a94710e197","episode_index":63,"episode_name":"episode_0063"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0063.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_7999/tex_ceiling_textures_9067/tex_floor_textures_4898/tex_table_textures_1179/tex_wall_textures_8166","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":3491006754933422944,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":3491006754933422944,"visual_seed":3491006754933422944,"scene_id":"lab_003","finished_at":"2026-09-04T02:28:05"} +{"episode_id":"ep_000064","started_at":"2026-09-04T02:28:09","dimensions":{"distractor":{"count":21,"items":[{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_0","position":[0.5608338899067484,-1.8668252373778937,0.71338606911949],"aabb_xy":[[0.5303496397797182,-1.9168252371593897],[0.5913181400337785,-1.8168252375963978]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_1","position":[0.32073699334722505,0.7800171942279848,0.71338606911949],"aabb_xy":[[0.29573699341470716,0.7731345260070615],[0.34573699327974294,0.7868998624489081]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_2","position":[-0.5112615328583203,-0.670343630471812,0.71338606911949],"aabb_xy":[[-0.5189647235323972,-0.6780530011705499],[-0.5035583421842432,-0.6626342597730739]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_3","position":[-0.10896061679758018,-1.2869260749830358,0.71338606911949],"aabb_xy":[[-0.11765857908829548,-1.2990510492905107],[-0.1002626545068649,-1.2748011006755613]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_4","position":[0.14285142875257262,-0.7909124956628704,0.71338606911949],"aabb_xy":[[0.11656260443213194,-0.8171839293175215],[0.16914025307301325,-0.764641062008219]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_5","position":[0.6346312080405756,1.2537550878450978,0.71338606911949],"aabb_xy":[[0.5446312086222046,1.220379591000908],[0.7246312074589464,1.2871305846892875]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_6","position":[-0.1518842633108276,1.2189988067190982,0.71338606911949],"aabb_xy":[[-0.19290220669719849,1.1689988060881409],[-0.11086631992445672,1.2689988073500555]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_7","position":[0.3989160885270806,-0.6841782501133475,0.71338606911949],"aabb_xy":[[0.3837439192454473,-0.6993471070415509],[0.414088257808714,-0.6690093931851442]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_8","position":[-0.15752011469711646,1.3719079671077394,0.71338606911949],"aabb_xy":[[-0.1753136216320329,1.3541082215119418],[-0.13972660776220003,1.389707712703537]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_9","position":[-0.6045668428832989,1.6806397014787922,0.71338606911949],"aabb_xy":[[-0.6270668424070063,1.658143754028171],[-0.5820668433595915,1.7031356489294125]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_10","position":[0.005080049054101643,-1.2827640194301622,0.71338606911949],"aabb_xy":[[-0.02991994921601826,-1.2898381471251499],[0.040080047324221546,-1.2756898917351736]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_11","position":[-0.5792631012694138,-1.4338315357264102,0.71338606911949],"aabb_xy":[[-0.6038093168921645,-1.4640804322754473],[-0.5547168856466631,-1.4035826391773731]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_12","position":[0.57281573750085,0.44720690089388926,0.71338606911949],"aabb_xy":[[0.5663141009928454,0.43743907886757954],[0.5793173740088546,0.4569747229201991]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_13","position":[0.048332422648527884,1.6290689690467173,0.71338606911949],"aabb_xy":[[0.02474729918463304,1.5640689668012857],[0.07191754611242274,1.6940689712921493]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_14","position":[-0.11290551384277026,-1.8867432559188155,0.71338606911949],"aabb_xy":[[-0.1769055155207676,-1.9352606473981298],[-0.0489055121647729,-1.8382258644395013]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_15","position":[0.3559369283721321,1.7605898440523648,0.71338606911949],"aabb_xy":[[0.30595269266395486,1.710589845238869],[0.4059211640803093,1.8105898428658602]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_16","position":[-0.15058558861693316,-1.5406493727137716,0.71338606911949],"aabb_xy":[[-0.16614135802719845,-1.556199805958179],[-0.13502981920666793,-1.5250989394693646]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_17","position":[-0.3312890923136488,-0.31766605526017644,0.71338606911949],"aabb_xy":[[-0.37628167903209914,-0.36266605453462514],[-0.2862965055951983,-0.27266605598572763]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_18","position":[0.19440114876757253,-1.5213174217392458,0.71338606911949],"aabb_xy":[[0.13440114712465065,-1.5733175710311902],[0.2544011504104944,-1.4693172724473018]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_19","position":[0.50740487591678,1.1226613353736759,0.71338606911949],"aabb_xy":[[0.45752217903908377,1.072661336127401],[0.5572875727944762,1.1726613346199506]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_20","position":[-0.6366222599266048,-0.060607560378595604,0.71338606911949],"aabb_xy":[[-0.6712133427806498,-0.12560756066362663],[-0.6020311770725594,0.004392439906435445]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6972073237628739,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8047.png","name":"8047"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8047.png","name":"8047"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9189.png","name":"9189"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6413.png","name":"6413"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4302.png","name":"4302"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5284.png","name":"5284"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":644.6521300915804,"rotation_z_degrees":245.3612575273075,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011017494956089901,-0.006576306412195395,0.01518519668837395]},{"name":"camera_2","offset_m":[-0.012624376392502428,0.01502814107779658,-0.006920386364130162]},{"name":"camera_3","offset_m":[-0.0007986370118660407,-0.010956807248090618,0.0189221313756299]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0003684446844955929,-0.0001295626370916758,-0.0010568641580703396],"end_effector_yaw_offset_degrees":-0.3488487126579094},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010018011934804197,0.00016758647133607472,8.638804753320888e-06],"end_effector_yaw_offset_degrees":-0.02904345758318394},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00037010762288173897,0.0009520853759521011,0.00021145054444822583],"end_effector_yaw_offset_degrees":-0.8041991443543337}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0015715732693250507,-0.0016144354569470496],"position_m":[0.2773284267306749,-0.11931443545694705,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0015711872178903585,0.004882086003597353],"position_m":[0.22807118721789035,-0.40431791399640266,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0041808359393386745,-0.004937714243421232],"position_m":[0.3567808359393387,0.06106228575657877,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0031481387869171104,0.0038875946342800767],"position_m":[0.3453481387869171,0.3277875946342801,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5c467a17e9ca5c4772d9678f3d0ac50b241c68928edfac40088f96dc63dadd3c","episode_index":64,"episode_name":"episode_0064"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0064.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_8047/tex_ceiling_textures_5284/tex_floor_textures_4302/tex_table_textures_9189/tex_wall_textures_6413","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":8642472252795613613,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":8642472252795613613,"visual_seed":8642472252795613613,"scene_id":"lab_003","finished_at":"2026-09-04T02:30:56"} +{"episode_id":"ep_000065","started_at":"2026-09-04T02:31:00","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_0","position":[0.6705111916249011,1.3123657875773977,0.71338606911949],"aabb_xy":[[0.6600996329444173,1.307020054241499],[0.6809227503053847,1.3177115209132957]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_1","position":[0.2784851461364988,-1.1257868379026668,0.71338606911949],"aabb_xy":[[0.2434851470065431,-1.1315320589783306],[0.31348514526645443,-1.1200416168270024]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_2","position":[0.5893081359782895,-2.2030534950624503,0.71338606911949],"aabb_xy":[[0.5522740265502296,-2.2374307023961593],[0.6263422454063491,-2.1686762877287404]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_3","position":[-0.5921321912245162,1.5925599258020608,0.71338606911949],"aabb_xy":[[-0.6120232311048565,1.5799041145173642],[-0.572241151344176,1.605215737086758]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_4","position":[-0.5404954368504532,-1.5552704411491654,0.71338606911949],"aabb_xy":[[-0.5451305520026865,-1.559137776226314],[-0.5358603216982197,-1.5514031060720166]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_5","position":[-0.06079859561709677,1.7300290607683766,0.71338606911949],"aabb_xy":[[-0.06638026725122553,1.717529060950601],[-0.055216923982968014,1.742529060586152]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_6","position":[-0.19693274525565185,-2.349777674026695,0.71338606911949],"aabb_xy":[[-0.209804648756592,-2.429777674440531],[-0.1840608417547117,-2.2697776736128588]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_7","position":[-0.14686061748699908,-1.4261457189943736,0.71338606911949],"aabb_xy":[[-0.15489695218828395,-1.4341838382987904],[-0.13882428278571426,-1.4181075996899568]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_8","position":[-0.03432045547556761,-1.7933976074083655,0.71338606911949],"aabb_xy":[[-0.11432045873341057,-1.8733941152003497],[0.04567954778227534,-1.7134010996163818]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_9","position":[0.3413260382151624,-2.2469258333612285,0.71338606911949],"aabb_xy":[[0.3222137308571835,-2.26606061223847],[0.36043834557314125,-2.227791054483986]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_10","position":[-0.20769816766474142,-0.5698794089521915,0.71338606911949],"aabb_xy":[[-0.22527646985368824,-0.5874538985262965],[-0.19011986547579454,-0.5523049193780867]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_11","position":[-0.31540340941562195,0.4242163931764664,0.71338606911949],"aabb_xy":[[-0.3654034106994618,0.3742375387858443],[-0.26540340813178187,0.47419524756708853]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_12","position":[-0.13959202527885994,-0.7410524256321367,0.71338606911949],"aabb_xy":[[-0.2035920276216615,-0.7859932768762691],[-0.07559202293605839,-0.6961115743880041]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_13","position":[0.6591978844906436,-0.1637649214186836,0.71338606911949],"aabb_xy":[[0.6421877872005929,-0.17989940991695752],[0.6762079817806942,-0.14763043292040967]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_14","position":[-0.3235148827449101,1.567161185700574,0.71338606911949],"aabb_xy":[[-0.3332708722540839,1.5573986516413394],[-0.31375889323573614,1.5769237197598083]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_15","position":[0.6713475999495777,-0.6346934784891787,0.71338606911949],"aabb_xy":[[0.6413559372157074,-0.6646934778259792],[0.701339262683448,-0.6046934791523781]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_16","position":[0.347525761040014,-0.7335596633004111,0.71338606911949],"aabb_xy":[[0.32624775289654173,-0.7985596656264842],[0.36880376918348623,-0.668559660974338]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_17","position":[0.039912112537206834,1.5451039340523391,0.71338606911949],"aabb_xy":[[-0.024087889140790526,1.4965865425730247],[0.10391211421520419,1.5936213255316531]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_18","position":[0.5401395165488116,-0.3741362239999084,0.71338606911949],"aabb_xy":[[0.5063639573581187,-0.38817471921307345],[0.5739150757395046,-0.3600977287867434]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_19","position":[0.6113048136923733,-1.422212771806366,0.71338606911949],"aabb_xy":[[0.5561796080627824,-1.4822127732476529],[0.666430019321964,-1.3622127703650786]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_20","position":[-0.06553294542706423,0.9308150586097796,0.71338606911949],"aabb_xy":[[-0.10303294524409778,0.9261768472986378],[-0.02803294561003067,0.9354532699209215]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_21","position":[-0.3038729025130174,-1.1321916847237776,0.71338606911949],"aabb_xy":[[-0.3538729011589386,-1.18211122838324],[-0.2538729038670962,-1.0822721410643152]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_22","position":[0.5279541109401558,-0.4710295099366246,0.71338606911949],"aabb_xy":[[0.4579541075485937,-0.5063452836400555],[0.5979541143317176,-0.43571373623319376]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_23","position":[0.11209788215721372,-0.9690984932477695,0.71338606911949],"aabb_xy":[[0.0920394705439734,-0.9891635801569271],[0.132156293770454,-0.949033406338612]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_24","position":[0.5233192755639835,1.62192740122997,0.71338606911949],"aabb_xy":[[0.47331927612378777,1.5719594767456535],[0.573319275004179,1.6718953257142861]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_25","position":[0.07056396218417782,1.6562948464651401,0.71338606911949],"aabb_xy":[[0.048655280044826776,1.6343941796450492],[0.09247264432352886,1.6781955132852306]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_26","position":[-0.048550157854723275,-2.2139891954636326,0.71338606911949],"aabb_xy":[[-0.089798968884638,-2.2689891949758496],[-0.00730134682480854,-2.1589891959514147]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_27","position":[-0.45387555176359784,-2.1636180643292184,0.71338606911949],"aabb_xy":[[-0.48220526171213807,-2.1680788065229355],[-0.4255458418150576,-2.1591573221355014]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6931979701207881,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5991.png","name":"5991"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5991.png","name":"5991"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8961.png","name":"8961"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3439.png","name":"3439"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1506.png","name":"1506"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7617.png","name":"7617"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":839.6027878189612,"rotation_z_degrees":339.89650454610495,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007750056623165462,-0.005119384348439601,0.002008371772735572]},{"name":"camera_2","offset_m":[0.017446825989779906,-0.006010366581256088,0.009655173008450688]},{"name":"camera_3","offset_m":[-0.00965243403585024,-0.017525923241266894,0.0009688343093587001]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00016757252018275185,0.001338253844489231,0.000757839011309526],"end_effector_yaw_offset_degrees":-0.29296517870691163},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[3.988073683877918e-06,-0.0003485560985755881,0.0010775345160808853],"end_effector_yaw_offset_degrees":-0.9900314028265571},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005646575460809184,0.0012816481554641735,-0.0019418083617117317],"end_effector_yaw_offset_degrees":-0.8279495731401889}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00013603429643016442,-0.0014403090815105226],"position_m":[0.2787639657035698,-0.11914030908151052,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004833555793462582,-0.0019533937124523526],"position_m":[0.22166644420653742,-0.41115339371245235,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-4.4436421093645324e-05,0.004382217774102993],"position_m":[0.3525555635789064,0.070382217774103,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0022638936358179186,-0.0030300325481889836],"position_m":[0.3444638936358179,0.320869967451811,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c08aebdfc26c63d358e2658e43f399ec15684f967dad642f3889b474812be8a9","episode_index":65,"episode_name":"episode_0065"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0065.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_5991/tex_ceiling_textures_7617/tex_floor_textures_1506/tex_table_textures_8961/tex_wall_textures_3439","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":9108786885726286514,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":9108786885726286514,"visual_seed":9108786885726286514,"scene_id":"lab_003","finished_at":"2026-09-04T02:33:51"} +{"episode_id":"ep_000066","started_at":"2026-09-04T02:33:54","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_0","position":[0.48355067553705644,-2.4126517335089677,0.71338606911949],"aabb_xy":[[0.43837935768888747,-2.4766517306535065],[0.5287219933852254,-2.3486517363644297]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_1","position":[-0.20001087904836273,-1.4521723546768626,0.71338606911949],"aabb_xy":[[-0.235010878241181,-1.4631394006745249],[-0.16501087985554447,-1.4412053086791998]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_2","position":[0.5068095722240529,0.730638766124625,0.71338606911949],"aabb_xy":[[0.46977546279599314,0.6962615587909154],[0.5438436816521126,0.7650159734583343]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_3","position":[-0.276951838207805,0.28686110764278894,0.71338606911949],"aabb_xy":[[-0.3669518347086767,0.24094946522433067],[-0.18695184170693321,0.3327727500612471]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_4","position":[-0.07285054126772927,-0.9783764258496155,0.71338606911949],"aabb_xy":[[-0.12784375260486602,-1.033376426188409],[-0.017857329930592514,-0.9233764255108219]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_5","position":[-0.4534313292174076,-0.26121809696857223,0.71338606911949],"aabb_xy":[[-0.49468014024732226,-0.3162180964807896],[-0.4121825181874928,-0.2062180974563547]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_6","position":[-0.11227637668260382,0.3493493733238937,0.71338606911949],"aabb_xy":[[-0.12363811133588998,0.33798090691760563],[-0.10091464202931766,0.3607178397301818]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_7","position":[-0.2257199997635284,1.727962673076021,0.71338606911949],"aabb_xy":[[-0.23895094529820968,1.7147352540540213],[-0.2124890542288471,1.7411900920980201]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_8","position":[0.6355497615832899,-1.283776562534486,0.71338606911949],"aabb_xy":[[0.6275134268820051,-1.2918146818389025],[0.6435860962845747,-1.275738443230069]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_9","position":[0.5497510519662323,-1.709116983377835,0.71338606911949],"aabb_xy":[[0.4897510514583793,-1.765963717063756],[0.6097510524740851,-1.6522702496919135]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_10","position":[-0.1734793734166652,-0.714127980931232,0.71338606911949],"aabb_xy":[[-0.20847937339316103,-0.7235925969788487],[-0.13847937344016936,-0.7046633648836155]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_11","position":[0.21793079212538446,-1.0969135154668868,0.71338606911949],"aabb_xy":[[0.16794784193790505,-1.146913515109447],[0.2679137423128637,-1.0469135158243261]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_12","position":[0.13050677842051228,-0.8061451736074314,0.71338606911949],"aabb_xy":[[0.09300677723571947,-0.8105633963034917],[0.16800677960530505,-0.8017269509113707]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_13","position":[-0.5200345208812812,0.684598370047572,0.71338606911949],"aabb_xy":[[-0.6000283444598394,0.6045983674547304],[-0.440040697302723,0.7645983726404135]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_14","position":[0.369880519678905,-1.2673446784718905,0.71338606911949],"aabb_xy":[[0.3198805202387094,-1.3173126029562068],[0.4198805191191006,-1.2173767539875742]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_15","position":[-0.11088583680173791,-1.6678265375852948,0.71338606911949],"aabb_xy":[[-0.18088583861048335,-1.6891803063494821],[-0.040885834992992476,-1.6464727688211074]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_16","position":[0.41937829523175596,-0.14012179821937565,0.71338606911949],"aabb_xy":[[0.41453470047052604,-0.14497345069835976],[0.424221889992986,-0.13527014574039153]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_17","position":[0.1603544725791175,0.6287827055998547,0.71338606911949],"aabb_xy":[[0.1538528360711129,0.619014883573545],[0.16685610908712212,0.6385505276261645]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_18","position":[0.6502244325904447,-0.32473427183218284,0.71338606911949],"aabb_xy":[[0.6252244330387062,-0.3348767556973175],[0.6752244321421832,-0.31459178796704806]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_19","position":[-0.04499554714199905,-0.3908417976204013,0.71338606911949],"aabb_xy":[[-0.05370951619193353,-0.41334179827958933],[-0.03628157809206455,-0.3683417969612129]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_20","position":[0.30540399072168145,-2.223036260078845,0.71338606911949],"aabb_xy":[[0.24140398743197336,-2.2663711790827628],[0.36940399401138957,-2.1797013410749275]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_21","position":[0.058473135631828765,-2.1232154902834464,0.71338606911949],"aabb_xy":[[0.04839142855325528,-2.2032154881755606],[0.06855484271040224,-2.0432154923913313]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_22","position":[-0.515194999420507,-1.4826121621720143,0.71338606911949],"aabb_xy":[[-0.6001949978379302,-1.5674864576342993],[-0.4301950010030837,-1.3977378667097293]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_23","position":[0.5981949824004462,0.29693192408593605,0.71338606911949],"aabb_xy":[[0.5869499268298284,0.28569012636184077],[0.609440037971064,0.30817372181003133]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_24","position":[-0.20182189600904293,-0.5149884691098388,0.71338606911949],"aabb_xy":[[-0.26682189456611577,-0.5447410025237214],[-0.1368218974519701,-0.48523593569595613]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_25","position":[0.6310892121192948,0.1296031246758571,0.71338606911949],"aabb_xy":[[0.5986275112373671,0.09947029256095445],[0.663550913001222,0.15973595679075966]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_26","position":[-0.47601485132605287,-1.8620542757205225,0.71338606911949],"aabb_xy":[[-0.5560148534888154,-1.942009459346666],[-0.39601484916329033,-1.7820990920943787]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_27","position":[-0.18044733224279363,-0.13400564134755566,0.71338606911949],"aabb_xy":[[-0.19221551903745118,-0.21900564125277727],[-0.16867914544813611,-0.049005641442334116]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_28","position":[0.6500080380613198,1.5794536270294741,0.71338606911949],"aabb_xy":[[0.6125080382442861,1.5748154157183323],[0.6875080378783532,1.584091838340616]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_29","position":[0.10775720128687438,-1.7538937213552144,0.71338606911949],"aabb_xy":[[0.07275719993539263,-1.7742534573120352],[0.1427572026383561,-1.7335339853983935]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_30","position":[0.5986781704074986,-1.179570971271364,0.71338606911949],"aabb_xy":[[0.5436781722057538,-1.2200929378978018],[0.6536781686092434,-1.1390490046449266]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_31","position":[-0.38759784887972354,-2.5151957624407246,0.71338606911949],"aabb_xy":[[-0.4286157922660944,-2.565195763071682],[-0.34657990549335266,-2.4651957618097673]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_32","position":[0.1438640606959346,0.7150440681780075,0.71338606911949],"aabb_xy":[[0.1079505562709449,0.6791305599612527],[0.17977756512092427,0.750957576394762]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_33","position":[0.6932173044311045,0.38533712629687544,0.71338606911949],"aabb_xy":[[0.6891013543190316,0.3812215712640299],[0.697333254543177,0.3894526813297209]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_34","position":[-0.37609313809884387,1.4594773377227201,0.71338606911949],"aabb_xy":[[-0.3879652211103449,1.3744773380290698],[-0.3642210550873427,1.5444773374163705]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6926183352805072,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8569.png","name":"8569"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8569.png","name":"8569"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9242.png","name":"9242"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2479.png","name":"2479"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6097.png","name":"6097"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7896.png","name":"7896"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":628.6448675018207,"rotation_z_degrees":100.55056954644797,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01775750296138086,0.013509258680332422,0.014819293818641843]},{"name":"camera_2","offset_m":[0.0046791962505520965,-0.019657867940621847,0.003628334556850271]},{"name":"camera_3","offset_m":[0.016855234021881615,-0.012549150799701385,-0.009002532869833848]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004262440629218779,0.0005512594742214483,0.00025203303507867784],"end_effector_yaw_offset_degrees":0.447659264421125},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0002923240670947855,0.0008161215872030904,-0.0007132589974365824],"end_effector_yaw_offset_degrees":0.3075749631953615},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018835219667741455,0.0013603641629156308,0.0017729288694689413],"end_effector_yaw_offset_degrees":-0.8743539206372555}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003051365267031053,-0.004620750909976438],"position_m":[0.281951365267031,-0.12232075090997643,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0019382181574950207,-0.001534964004773015],"position_m":[0.22843821815749502,-0.41073496400477305,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0014914528209673894,0.001394797566836986],"position_m":[0.3511085471790326,0.06739479756683699,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[7.098939849428318e-05,-0.00010317980279726888],"position_m":[0.34227098939849426,0.32379682019720274,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6c10d82c718f39e0ddffe6f6a260f59c7068fcefd99ceaf5f25e79288a6771a7","episode_index":66,"episode_name":"episode_0066"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0066.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_8569/tex_ceiling_textures_7896/tex_floor_textures_6097/tex_table_textures_9242/tex_wall_textures_2479","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":5514848853485054276,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":5514848853485054276,"visual_seed":5514848853485054276,"scene_id":"lab_003","finished_at":"2026-09-04T02:36:32"} +{"episode_id":"ep_000067","started_at":"2026-09-04T02:36:35","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_0","position":[0.5350255791037255,-2.3611018890830735,0.71338606911949],"aabb_xy":[[0.5171564713492699,-2.374934797060285],[0.5528946868581809,-2.347268981105863]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_1","position":[-0.29137660777451674,-2.128584270362923,0.71338606911949],"aabb_xy":[[-0.30887660705260356,-2.145922370429269],[-0.2738766084964298,-2.1112461702965772]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_2","position":[-0.5139274075667446,-1.6622759300628303,0.71338606911949],"aabb_xy":[[-0.5789274057226637,-1.6885721746127424],[-0.44892740941082554,-1.635979685512918]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_3","position":[0.358909753560517,1.2520511878501068,0.71338606911949],"aabb_xy":[[0.3089097539841823,1.202070608898001],[0.40890975313685174,1.302031766802213]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_4","position":[-0.118249421314787,0.3397790623887258,0.71338606911949],"aabb_xy":[[-0.128816900972886,0.32923403227571724],[-0.10768194165668799,0.35032409250173435]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_5","position":[0.625699861342341,-0.7985765990743334,0.71338606911949],"aabb_xy":[[0.5906998621495226,-0.8095436450719959],[0.6606998605351592,-0.7876095530766707]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_6","position":[0.13064181167200828,-1.9032932404606933,0.71338606911949],"aabb_xy":[[0.11075077179166803,-1.9159490517453905],[0.15053285155234852,-1.8906374291759969]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_7","position":[-0.24981033395370505,-1.4782692888603068,0.71338606911949],"aabb_xy":[[-0.3298103372177182,-1.4918293211692202],[-0.16981033068969192,-1.4647092565513935]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_8","position":[-0.20571227879704568,-0.014476763813318971,0.71338606911949],"aabb_xy":[[-0.21055587355827568,-0.019328416292303086],[-0.20086868403581573,-0.009625111334334857]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_9","position":[0.019362200848145106,1.368377004637062,0.71338606911949],"aabb_xy":[[-0.044637797738427354,1.3213700412375533],[0.08336219943471757,1.4153839680365707]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_10","position":[0.26559532315456313,-2.2899518828433436,0.71338606911949],"aabb_xy":[[0.23129841213682245,-2.3242487690532845],[0.2998922341723037,-2.255654996633402]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_11","position":[-0.04291780406465784,0.1226183215604677,0.71338606911949],"aabb_xy":[[-0.04687828783439221,0.11495045697494712],[-0.038957320294923464,0.1302861861459883]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_12","position":[-0.6582546122828723,0.9496986337365665,0.71338606911949],"aabb_xy":[[-0.6623904686155725,0.9121986342922097],[-0.6541187559501721,0.9871986331809237]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_13","position":[0.4454689180541851,-0.6108574041848565,0.71338606911949],"aabb_xy":[[0.3914533217722851,-0.6748574070771135],[0.4994845143360851,-0.5468574012925992]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_14","position":[0.2851003909257004,1.5110634138771926,0.71338606911949],"aabb_xy":[[0.2476003907538284,1.4783626784942852],[0.32260039109757227,1.5437641492600995]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_15","position":[-0.5811657024713774,-0.5959396622664812,0.71338606911949],"aabb_xy":[[-0.6309824819362122,-0.6459396607507846],[-0.5313489230065427,-0.5459396637821778]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_16","position":[0.21059091017743548,0.6664018852904419,0.71338606911949],"aabb_xy":[[0.19812355206769983,0.6539365606571185],[0.22305826828717112,0.6788672099237655]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_17","position":[-0.2758684533670547,0.26145387162127687,0.71338606911949],"aabb_xy":[[-0.36586845278542557,0.22807837477708715],[-0.1858684539486838,0.2948293684654666]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_18","position":[0.7072368846513322,0.7898783912927558,0.71338606911949],"aabb_xy":[[0.6897368844062827,0.7723786034531889],[0.7247368848963814,0.8073781791323226]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_19","position":[-0.07866463083479969,-1.1423318759656587,0.71338606911949],"aabb_xy":[[-0.1426646281371461,-1.186698302933515],[-0.014664633532453272,-1.0979654489978015]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_20","position":[0.4695089461734905,0.4229294540064523,0.71338606911949],"aabb_xy":[[0.40550894888784184,0.38142273505360835],[0.5335089434591391,0.4644361729592963]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_21","position":[0.12641205562394342,1.0634466200208998,0.71338606911949],"aabb_xy":[[0.10119121876410371,1.0382228691680127],[0.15163289248378303,1.0886703708737862]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_22","position":[0.058823462121570746,1.215755162554022,0.71338606911949],"aabb_xy":[[0.050695773928257526,1.2068415541433142],[0.06695115031488397,1.2246687709647297]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_23","position":[-0.1106675660719485,0.7030129174809869,0.71338606911949],"aabb_xy":[[-0.1746675624992704,0.6558432936588907],[-0.04666756964462661,0.7501825413030836]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6957823653896574,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6221.png","name":"6221"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6221.png","name":"6221"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9327.png","name":"9327"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/230.png","name":"230"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6977.png","name":"6977"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6415.png","name":"6415"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":698.6361684888511,"rotation_z_degrees":61.11714854479917,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016713619387338646,-0.0018148171929928576,-0.003796344277398795]},{"name":"camera_2","offset_m":[0.009926484450817185,0.00048420714685942084,0.016725030098413664]},{"name":"camera_3","offset_m":[0.012587764003922478,-0.0019787050546957417,-0.011976750805490606]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-6.992935961320384e-05,0.0004532177775245271,-0.0017385394186238692],"end_effector_yaw_offset_degrees":-0.46741312459400475},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-3.9669521611340915e-05,-0.0014735598472311526,-0.0013254511751900288],"end_effector_yaw_offset_degrees":-0.49644959496525387},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018758616870397829,-0.001210669066881403,-0.001982878708577732],"end_effector_yaw_offset_degrees":-0.2479483829217768}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0049492352075439176,-0.0044395860507707805],"position_m":[0.27395076479245606,-0.12213958605077078,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0015337783772540426,0.0006569366563329935],"position_m":[0.22803377837725405,-0.408543063343667,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001127231335570993,-0.0011139708572748654],"position_m":[0.353727231335571,0.06488602914272514,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004728237374646058,-0.0021662021496728213],"position_m":[0.34692823737464606,0.3217337978503272,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a5d70c1bf691c33ea810d2e5b0516cc7b15034ab53a500e730c8e26b77cc37aa","episode_index":67,"episode_name":"episode_0067"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0067.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_6221/tex_ceiling_textures_6415/tex_floor_textures_6977/tex_table_textures_9327/tex_wall_textures_230","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":4225371611587765489,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":4225371611587765489,"visual_seed":4225371611587765489,"scene_id":"lab_003","finished_at":"2026-09-04T02:39:23"} +{"episode_id":"ep_000068","started_at":"2026-09-04T02:39:26","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_0","position":[0.29884069573184957,-1.9256053941256979,0.71338606911949],"aabb_xy":[[0.23484069244214148,-1.9689403131296155],[0.3628406990215577,-1.8822704751217803]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_1","position":[0.11871208859509086,-1.5942756696130105,0.71338606911949],"aabb_xy":[[0.07262699734035939,-1.6582756668655656],[0.16479717984982234,-1.5302756723604554]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_2","position":[-0.39529865197072556,0.667282249588292,0.71338606911949],"aabb_xy":[[-0.475298649374319,0.587289678390109],[-0.31529865456713213,0.7472748207864747]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_3","position":[0.6151298427780298,-1.4148296553243103,0.71338606911949],"aabb_xy":[[0.5251298430548554,-1.4379030078594899],[0.7051298425012038,-1.3917563027891302]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_4","position":[0.003774869309204898,-0.9649012118322533,0.71338606911949],"aabb_xy":[[-0.03325924011885482,-0.9992784191659626],[0.04080897873726461,-0.9305240044985438]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_5","position":[-0.2051726323062827,-1.9733774182281012,0.71338606911949],"aabb_xy":[[-0.21316612210156477,-1.9813755501685775],[-0.19717914251100072,-1.9653792862876263]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_6","position":[0.5847857965682477,0.18255816661218116,0.71338606911949],"aabb_xy":[[0.5247857960603948,0.12571143292625986],[0.6447857970761006,0.23940490029810246]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_7","position":[-0.4104752653497534,-1.6566356482444151,0.71338606911949],"aabb_xy":[[-0.4185116000510382,-1.6646737675488317],[-0.40243893064846853,-1.6485975289399981]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_8","position":[0.4439193745693326,-1.6252510024063462,0.71338606911949],"aabb_xy":[[0.4304728479352893,-1.6387208540594378],[0.45736590120337595,-1.6117811507532551]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_9","position":[0.27486309533485254,-0.935619215566633,0.71338606911949],"aabb_xy":[[0.2373630967592317,-0.9483555112301909],[0.3123630939104733,-0.922882919903075]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_10","position":[-0.4670627011964369,0.3064774794077958,0.71338606911949],"aabb_xy":[[-0.4744751567378254,0.30062626898616784],[-0.4596502456550485,0.31232868982942374]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_11","position":[-0.25089883833483195,-0.7161296616265156,0.71338606911949],"aabb_xy":[[-0.26853167392835947,-0.7337526076421386],[-0.23326600274130435,-0.6985067156108926]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_12","position":[0.3513139449488305,1.721339969708613,0.71338606911949],"aabb_xy":[[0.34040816886126773,1.6413399733097835],[0.36221972103639316,1.8013399661074418]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_13","position":[0.28113391174049296,-0.6961120280142363,0.71338606911949],"aabb_xy":[[0.2561339125748598,-0.703064273719593],[0.306133910906126,-0.6891597823088799]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_14","position":[0.4774235836050653,1.4255828705942002,0.71338606911949],"aabb_xy":[[0.4399235851816649,1.4124186566263692],[0.5149235820284657,1.4387470845620307]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_15","position":[-0.17918097831172264,-1.2792945386872892,0.71338606911949],"aabb_xy":[[-0.19946528103512137,-1.2995771638299978],[-0.15889667558832385,-1.25901191354458]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_16","position":[0.23737189000858572,1.2390451351014202,0.71338606911949],"aabb_xy":[[0.20290954261044386,1.2045512527035973],[0.2718342374067274,1.2735390174992427]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_17","position":[0.2188218538680784,-1.0786779147803125,0.71338606911949],"aabb_xy":[[0.2090658643589045,-1.088440448839547],[0.2285778433772523,-1.068915380721078]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_18","position":[-0.3434131331568359,-1.9161581431801848,0.71338606911949],"aabb_xy":[[-0.3733806900666615,-1.9461581434780706],[-0.3134455762470102,-1.886158142882299]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_19","position":[-0.28053670400653336,0.9537820125309895,0.71338606911949],"aabb_xy":[[-0.31803670395029976,0.9454889224961529],[-0.24303670406276695,0.9620751025658261]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_20","position":[0.5409810299074831,-1.0244653981345846,0.71338606911949],"aabb_xy":[[0.5330577496687349,-1.046965398372588],[0.5489043101462315,-1.0019653978965812]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_21","position":[-0.5968811355072311,0.3911226414515543,0.71338606911949],"aabb_xy":[[-0.6420524533554002,0.3271226443070159],[-0.5517098176590622,0.45512263859609275]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_22","position":[-0.07322003897090767,-2.55593735923162,0.71338606911949],"aabb_xy":[[-0.09210442273941788,-2.574823284011973],[-0.05433565520239747,-2.5370514344512674]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_23","position":[-0.19591060071293592,1.3754961815178746,0.71338606911949],"aabb_xy":[[-0.2052042189500865,1.3379961830297407],[-0.18661698247578534,1.4129961800060085]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_24","position":[-0.5364395390310954,-1.3159723053969052,0.71338606911949],"aabb_xy":[[-0.5538702541101018,-1.3332444200607558],[-0.5190088239520888,-1.2987001907330542]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_25","position":[0.3320485467296461,1.442971803872894,0.71338606911949],"aabb_xy":[[0.32127557280827834,1.407971805653855],[0.3428215206510139,1.477971802091933]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_26","position":[-0.08649414497148422,0.5342424098623897,0.71338606911949],"aabb_xy":[[-0.13649414454781894,0.48426183091028374],[-0.036494145395149516,0.5842229888144956]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_27","position":[-0.008791291009144553,-1.4373100090162858,0.71338606911949],"aabb_xy":[[-0.023963460290777894,-1.4524788659444892],[0.006380878272488788,-1.4221411520880824]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_28","position":[0.15943601157237075,0.6100711571864119,0.71338606911949],"aabb_xy":[[0.14242591428232007,0.593936668688138],[0.17644610886242137,0.6262056456846858]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6882713852699343,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2588.png","name":"2588"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2588.png","name":"2588"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3677.png","name":"3677"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/164.png","name":"164"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9973.png","name":"9973"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1077.png","name":"1077"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":665.8549560989528,"rotation_z_degrees":127.68438624370437,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005669515619026736,-0.017411142297198222,0.013041501357249925]},{"name":"camera_2","offset_m":[0.014971856037288154,0.010162442764993139,-0.017741812686346087]},{"name":"camera_3","offset_m":[-0.005494579166525182,0.0071235996779561266,0.0035792246175243257]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014744107176292128,0.001463080066393258,-0.0008044730508094213],"end_effector_yaw_offset_degrees":-0.4538519849467799},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008925103643561752,-0.0015748133392707122,-0.0003109967417374269],"end_effector_yaw_offset_degrees":0.23364372881970552},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005773193829970947,-0.0001030321610833451,0.0018200902676800473],"end_effector_yaw_offset_degrees":-0.8053945179380133}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[7.481704225093498e-05,0.004301655578775379],"position_m":[0.2789748170422509,-0.11339834442122462,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00016672224316282864,0.003049700976462168],"position_m":[0.22666672224316284,-0.40615029902353783,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004471683463935064,0.0017374531386880531],"position_m":[0.34812831653606496,0.06773745313868805,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004063015101313553,-0.0015851006693530655],"position_m":[0.33813698489868643,0.32231489933064694,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0e165552193274f0279b729bca9c2d3d854b5a7276d386541e36b13486d4629c","episode_index":68,"episode_name":"episode_0068"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0068.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2588/tex_ceiling_textures_1077/tex_floor_textures_9973/tex_table_textures_3677/tex_wall_textures_164","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":1203087113421550363,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":1203087113421550363,"visual_seed":1203087113421550363,"scene_id":"lab_003","finished_at":"2026-09-04T02:42:14"} +{"episode_id":"ep_000069","started_at":"2026-09-04T02:42:18","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_0","position":[-0.5490136195405275,1.1490992738010974,0.71338606911949],"aabb_xy":[[-0.6130136214528699,1.093188124543087],[-0.4850136176281852,1.2050104230591079]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_1","position":[0.05742548690429228,-1.337044092193949,0.71338606911949],"aabb_xy":[[0.032425486971774393,-1.3439267604148724],[0.08242548683681017,-1.3301614239730257]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_2","position":[0.4113213344210509,-2.4691546263213957,0.71338606911949],"aabb_xy":[[0.4020277161839003,-2.5066546248095296],[0.4206149526582015,-2.431654627833262]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_3","position":[-0.580879911004879,-1.09039038919996,0.71338606911949],"aabb_xy":[[-0.6308799104450746,-1.1403583136842763],[-0.5308799115646834,-1.0404224647156437]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_4","position":[-0.34106221924226804,-0.35139660543327667,0.71338606911949],"aabb_xy":[[-0.4050622212920001,-0.39149108852258463],[-0.2770622171925361,-0.3113021223439687]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_5","position":[0.13631932606761943,-0.6854722053705717,0.71338606911949],"aabb_xy":[[0.12554635214625165,-0.7204722035896107],[0.1470922999889872,-0.6504722071515328]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_6","position":[0.3550766965053762,-0.5063863581348249,0.71338606911949],"aabb_xy":[[0.3470504258747502,-0.5151378531121775],[0.3631029671360022,-0.4976348631574723]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_7","position":[0.6139180790934069,1.6170694051501875,0.71338606911949],"aabb_xy":[[0.6045006045235441,1.6076532280124682],[0.6233355536632696,1.6264855822879063]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_8","position":[0.5180676167068796,1.3662821723501017,0.71338606911949],"aabb_xy":[[0.5103644260328025,1.3585728016513636],[0.5257708073809565,1.3739915430488399]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_9","position":[-0.2021319560930398,-0.6812429555125155,0.71338606911949],"aabb_xy":[[-0.267131957050167,-0.733191167446221],[-0.1371319551359126,-0.6292947435788099]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_10","position":[-0.5285926091306334,-1.6740278623783698,0.71338606911949],"aabb_xy":[[-0.5698971521943695,-1.7380278619464868],[-0.48728806606689756,-1.6100278628102527]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_11","position":[-0.655402544493335,-1.5136537453921324,0.71338606911949],"aabb_xy":[[-0.6697369696194986,-1.5257139609466712],[-0.6410681193671717,-1.5015935298375935]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_12","position":[-0.16369559099674802,1.104347861842144,0.71338606911949],"aabb_xy":[[-0.17247681814398427,1.095568114553614],[-0.15491436384951182,1.1131276091306745]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_13","position":[0.4195107008256449,-0.1715504096942988,0.71338606911949],"aabb_xy":[[0.4103508218817683,-0.1780816277378358],[0.4286705797695215,-0.1650191916507618]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_14","position":[0.4799495228239008,-0.7312696825601555,0.71338606911949],"aabb_xy":[[0.46910904459738584,-0.7484559638508042],[0.49079000105041565,-0.7140834012695065]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_15","position":[0.003433262670998416,-2.3393069607885812,0.71338606911949],"aabb_xy":[[-0.06056673649877153,-2.3860736479075437],[0.06743326184076835,-2.2925402736696188]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_16","position":[0.016758248340467685,-1.8028366326712075,0.71338606911949],"aabb_xy":[[-0.006523593857663656,-1.8878366339684354],[0.04004009053859902,-1.7178366313739792]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_17","position":[-0.37658401051191653,0.5266186955498733,0.71338606911949],"aabb_xy":[[-0.3941623127008633,0.5090442059757683],[-0.35900570832296963,0.5441931851239781]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_18","position":[0.03913297428868867,-2.203348218041164,0.71338606911949],"aabb_xy":[[-0.024867022138633232,-2.2505178418632608],[0.10313297071601057,-2.156178594219068]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_19","position":[-0.44204680831844567,-1.2589934584183124,0.71338606911949],"aabb_xy":[[-0.4971720139480364,-1.3189934598595994],[-0.38692160268885484,-1.198993456977025]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_20","position":[-0.10354880627557728,-0.8852822137980274,0.71338606911949],"aabb_xy":[[-0.13702797353661825,-0.9187613271691344],[-0.07006963901453636,-0.8518031004269204]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_21","position":[0.6345866248878704,-0.7582088004367453,0.71338606911949],"aabb_xy":[[0.6008110656971775,-0.7722472956499103],[0.6683621840785634,-0.7441703052235803]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_22","position":[-0.4303383170358001,-0.9567385178728958,0.71338606911949],"aabb_xy":[[-0.4516163251792723,-1.0217385201989688],[-0.4090603088923278,-0.8917385155468226]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_23","position":[-0.11609555399540683,-1.2654629610075405,0.71338606911949],"aabb_xy":[[-0.12333932004165216,-1.345462959211143],[-0.1088517879491615,-1.1854629628039381]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_24","position":[-0.6015081724563656,-1.7975547239082332,0.71338606911949],"aabb_xy":[[-0.671508174058645,-1.810987517109891],[-0.5315081708540861,-1.7841219307065759]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_25","position":[0.3405557073949774,0.697431859291036,0.71338606911949],"aabb_xy":[[0.3249999379847122,0.6818814260466288],[0.35611147680524274,0.7129822925354432]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_26","position":[0.5811482126363772,1.0732506283082364,0.71338606911949],"aabb_xy":[[0.5685214253491807,1.0637045546066635],[0.5937749999235734,1.0827967020098093]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_27","position":[0.2102563260453214,-0.8709517864082665,0.71338606911949],"aabb_xy":[[0.14025632340873506,-0.8910566514041319],[0.28025632868190775,-0.8508469214124009]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_28","position":[-0.19026729660876907,-0.205416807416543,0.71338606911949],"aabb_xy":[[-0.23525988332721945,-0.25041680669099176],[-0.14527470989031863,-0.16041680814209422]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_29","position":[0.3709422433277818,-2.0645027784751893,0.71338606911949],"aabb_xy":[[0.3600364672402191,-2.144502774874018],[0.3818480194153445,-1.9845027820763597]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_30","position":[0.27033279272752353,-2.368950657021256,0.71338606911949],"aabb_xy":[[0.23383697210024473,-2.405434599448013],[0.3068286133548022,-2.332466714594498]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_31","position":[0.262698713910253,-1.2301657166766993,0.71338606911949],"aabb_xy":[[0.17269871157623395,-1.3076480712618117],[0.35269871624427207,-1.1526833620915864]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6935835592061438,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4849.png","name":"4849"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4849.png","name":"4849"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5292.png","name":"5292"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7439.png","name":"7439"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6943.png","name":"6943"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2614.png","name":"2614"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":777.9088854020706,"rotation_z_degrees":228.68863861213882,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012975884360485676,0.0028233601900826723,0.013463769829926486]},{"name":"camera_2","offset_m":[0.011913014963103898,0.018610743537510337,-0.004586931154533768]},{"name":"camera_3","offset_m":[0.009223352203840015,0.008316914033102016,-0.01635175800892544]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0010874217240528267,-0.0007667934386632305,0.001560622743697523],"end_effector_yaw_offset_degrees":0.8798812794209343},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001558260848759549,0.0004087192594315861,0.000465400763388849],"end_effector_yaw_offset_degrees":0.011456697872079369},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0010585427384153686,0.0013081417817391986,-0.0011840382033169075],"end_effector_yaw_offset_degrees":-0.674018908250424}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0021717673553284635,0.003010757141257336],"position_m":[0.28107176735532846,-0.11468924285874266,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0038966724623414615,0.000330060989802706],"position_m":[0.23039667246234147,-0.4088699390101973,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0016008581706488658,0.0003168661626738768],"position_m":[0.35099914182935116,0.06631686616267388,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00047342142007951536,0.002977245359383043],"position_m":[0.3417265785799205,0.32687724535938306,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1d9e83f58ac0a59c2d15d450019a596f4154ff5fcb202b3e1bc9a4eff777314d","episode_index":69,"episode_name":"episode_0069"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0069.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_4849/tex_ceiling_textures_2614/tex_floor_textures_6943/tex_table_textures_5292/tex_wall_textures_7439","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":5837212729598213511,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":5837212729598213511,"visual_seed":5837212729598213511,"scene_id":"lab_003","finished_at":"2026-09-04T02:45:04"} +{"episode_id":"ep_000070","started_at":"2026-09-04T02:45:08","dimensions":{"distractor":{"count":34,"items":[{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_0","position":[-0.1652928734613779,0.05450358057296478,0.71338606911949],"aabb_xy":[[-0.21529287290157348,0.0045356560886484765],[-0.11529287402118224,0.10447150505728109]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_1","position":[0.13486098019827197,0.8041281591699705,0.71338606911949],"aabb_xy":[[0.044860980779901055,0.7707526623257807],[0.22486097961664284,0.8375036560141601]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_2","position":[-0.5008975831199319,0.6779586647598466,0.71338606911949],"aabb_xy":[[-0.5233940045537961,0.6554586649530991],[-0.47840116168606794,0.700458664566594]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_3","position":[-0.4705090673520182,1.1973059564049193,0.71338606911949],"aabb_xy":[[-0.519989488565977,1.1333059584920675],[-0.4210286461380594,1.2613059543177711]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_4","position":[-0.0984098607765923,-0.09968547893630664,0.71338606911949],"aabb_xy":[[-0.1483940964847695,-0.14968547774980223],[-0.04842562506841505,-0.04968548012281103]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_5","position":[0.1694827588127399,-1.0921218723886459,0.71338606911949],"aabb_xy":[[0.08948276022542047,-1.1714374743268066],[0.24948275740005932,-1.0128062704504848]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_6","position":[-0.46381554912740985,1.381805753124504,0.71338606911949],"aabb_xy":[[-0.4710767966978173,1.3690187428609946],[-0.4565543015570025,1.3945927633880135]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_7","position":[-0.5673460488075944,0.9826361318214034,0.71338606911949],"aabb_xy":[[-0.637346045217556,0.9621981961697215],[-0.49734605239763247,1.0030740674730847]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_8","position":[-0.5703395874028364,-2.539644773006117,0.71338606911949],"aabb_xy":[[-0.576841223910841,-2.549412595032427],[-0.5638379508948318,-2.5298769509798076]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_9","position":[-0.5535182128183211,-1.3472113380904263,0.71338606911949],"aabb_xy":[[-0.5735766244315614,-1.367276424999584],[-0.5334598012050809,-1.3271462511812686]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_10","position":[-0.5033943696073715,1.0558406342740998,0.71338606911949],"aabb_xy":[[-0.5078249989622117,1.0503922625394173],[-0.4989637402525313,1.0612890060087823]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_11","position":[-0.6342363844611456,0.36551132483195925,0.71338606911949],"aabb_xy":[[-0.6764207986219762,0.30151132455474805],[-0.5920519703003148,0.42951132510917045]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_12","position":[0.43838604072990983,0.6096374360590087,0.71338606911949],"aabb_xy":[[0.3583860396567895,0.5998593897216242],[0.5183860418030302,0.6194154823963931]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_13","position":[0.30677120479319875,1.1455557043386508,0.71338606911949],"aabb_xy":[[0.2567712034323115,1.095577799763235],[0.356771206154086,1.1955336089140662]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_14","position":[-0.13108691373482095,-0.9656657881253345,0.71338606911949],"aabb_xy":[[-0.16858691367858736,-0.9739588781601712],[-0.09358691379105455,-0.9573726980904981]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_15","position":[-0.355024408280035,0.5331152540875403,0.71338606911949],"aabb_xy":[[-0.41902440744980496,0.4863485669685778],[-0.29102440911026506,0.5798819412065027]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_16","position":[0.4708047800017823,-1.785617825730081,0.71338606911949],"aabb_xy":[[0.46483824106104643,-1.7915789703894451],[0.476771318942518,-1.7796566810707168]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_17","position":[-0.2379849109087666,0.3370933691986311,0.71338606911949],"aabb_xy":[[-0.3029849135465601,0.2856137704991841],[-0.1729849082709731,0.38857296789807805]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_18","position":[-0.06004735902769853,-0.8404605173110713,0.71338606911949],"aabb_xy":[[-0.08033166175109728,-0.86074314245378],[-0.039763056304299764,-0.8201778921683623]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_19","position":[-0.5201075720850522,-1.8838171430076995,0.71338606911949],"aabb_xy":[[-0.5262021999731706,-1.8923865375593685],[-0.514012944196934,-1.875247748456031]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_20","position":[0.2928212109305026,-2.1053865954942426,0.71338606911949],"aabb_xy":[[0.23282121006968978,-2.1568130255007283],[0.35282121179131537,-2.053960165487755]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_21","position":[0.5662351962276388,-1.4183805599339525,0.71338606911949],"aabb_xy":[[0.511261474191306,-1.4733805594981857],[0.6212089182639717,-1.3633805603697193]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_22","position":[0.5739349265564408,-0.25615364944740593,0.71338606911949],"aabb_xy":[[0.563029150468878,-0.336153645846235],[0.5848407026440035,-0.17615365304857672]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_23","position":[0.3320418746957172,-2.514550984979269,0.71338606911949],"aabb_xy":[[0.32382732958003313,-2.5232275752769096],[0.3402564198114011,-2.505874394681627]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_24","position":[0.41450604643858435,0.8500861308177452,0.71338606911949],"aabb_xy":[[0.3505060461646062,0.8000200306204571],[0.47850604671256264,0.900152231015033]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_25","position":[0.12894995792514752,-1.5155411726156256,0.71338606911949],"aabb_xy":[[0.0489561343465893,-1.5955411752084674],[0.20894378150370574,-1.4355411700227843]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_26","position":[-0.3327414805552889,0.8325469622366035,0.71338606911949],"aabb_xy":[[-0.3697755899833486,0.7981697549028941],[-0.2957073711272291,0.8669241695703129]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_27","position":[-0.5102459583996075,0.11347640038709628,0.71338606911949],"aabb_xy":[[-0.5742459586600783,0.06846760103416827],[-0.44624595813913676,0.15848519974002429]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_28","position":[0.10762632853669774,-0.7616436784772838,0.71338606911949],"aabb_xy":[[0.08995069794809939,-0.7793238947566864],[0.12530195912529604,-0.7439634621978809]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_29","position":[0.638605729815831,1.4389622157747,0.71338606911949],"aabb_xy":[[0.6160920379923737,1.3689622151736927],[0.661119421639288,1.5089622163757077]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_30","position":[-0.37008947190459457,1.577311389253547,0.71338606911949],"aabb_xy":[[-0.4400894752961565,1.5419956155501162],[-0.30008946851303253,1.612627162956978]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_31","position":[-0.4757941074574712,-1.2131686321089852,0.71338606911949],"aabb_xy":[[-0.5407941053391191,-1.2642922958155263],[-0.4107941095758235,-1.1620449684024445]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_32","position":[0.38790462962243066,-1.546614525719658,0.71338606911949],"aabb_xy":[[0.3451379227430104,-1.6106145291414604],[0.4306713365018508,-1.4826145222978555]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_33","position":[0.5863314680955658,-0.6964213274031548,0.71338606911949],"aabb_xy":[[0.562746344631671,-0.7614213296485866],[0.6099165915594607,-0.631421325157723]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.696570799085727,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4886.png","name":"4886"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4886.png","name":"4886"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8216.png","name":"8216"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3242.png","name":"3242"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/738.png","name":"738"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1237.png","name":"1237"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":602.5411057213084,"rotation_z_degrees":206.0165856485185,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009225111213489071,0.012015830782538674,0.014812670591851481]},{"name":"camera_2","offset_m":[0.009205631281784345,0.01787111898417627,-0.01101165102164778]},{"name":"camera_3","offset_m":[0.00044248252674771935,-0.0010179042373558364,0.002252468459971544]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019218959915973007,-0.0003231579065437326,0.0019921380641141264],"end_effector_yaw_offset_degrees":-0.7193549210448356},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00011925942734653406,0.0004709912634090741,-0.0004671257559270524],"end_effector_yaw_offset_degrees":-0.7360804925332785},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019261866774683259,-0.0006648429805577107,0.0011464711333224074],"end_effector_yaw_offset_degrees":0.5626981619430842}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0021528459982206715,-0.0009638974671715757],"position_m":[0.2767471540017793,-0.11866389746717157,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004338537678364579,0.0001368819429168333],"position_m":[0.2308385376783646,-0.4090631180570832,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0045710084664347716,-0.0021836295931854546],"position_m":[0.34802899153356526,0.06381637040681455,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002710839016046779,0.003354526332263726],"position_m":[0.3449108390160468,0.32725452633226376,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f4d67310fa5a276425556d422e94384cd4a335e3e45907c631e5dbde479ef222","episode_index":70,"episode_name":"episode_0070"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0070.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_4886/tex_ceiling_textures_1237/tex_floor_textures_738/tex_table_textures_8216/tex_wall_textures_3242","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":8735643200504108950,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":8735643200504108950,"visual_seed":8735643200504108950,"scene_id":"lab_003","finished_at":"2026-09-04T02:47:50"} +{"episode_id":"ep_000071","started_at":"2026-09-04T02:47:53","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_0","position":[0.3461672683798247,-1.873836293244227,0.71338606911949],"aabb_xy":[[0.3379527232641406,-1.8825128835418679],[0.35438181349550857,-1.8651597029465852]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_1","position":[-0.28681300220705375,0.301330004230147,0.71338606911949],"aabb_xy":[[-0.33691046618812737,0.2373300037203352],[-0.23671553822598013,0.3653300047399588]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_2","position":[0.46080153941930324,-1.8169747844695752,0.71338606911949],"aabb_xy":[[0.4108015377578085,-1.8669732267252777],[0.510801541080798,-1.7669763422138722]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_3","position":[-0.4449184588097883,-1.1778429993263972,0.71338606911949],"aabb_xy":[[-0.47835863400580786,-1.2112866251573269],[-0.41147828361376865,-1.1443993734954667]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_4","position":[-0.1163402378835382,1.2480681805876652,0.71338606911949],"aabb_xy":[[-0.13384023814287485,1.2339766383988926],[-0.0988402376242016,1.2621597227764378]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_5","position":[-0.24948250945842004,-2.4382743997838574,0.71338606911949],"aabb_xy":[[-0.27076051760189224,-2.5032744021099305],[-0.22820450131494774,-2.3732743974577843]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_6","position":[-0.4721518965121062,-1.422737019298346,0.71338606911949],"aabb_xy":[[-0.49406057865145714,-1.4446376861184365],[-0.45024321437275505,-1.400836352478255]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_7","position":[0.03792331181042907,-0.8205511947041513,0.71338606911949],"aabb_xy":[[0.03302401950386557,-0.8482281140067199],[0.04282260411699256,-0.7928742754015824]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_8","position":[0.567124696714078,-0.41955067706719706,0.71338606911949],"aabb_xy":[[0.5630465388070283,-0.4236316573154604],[0.5712028546211276,-0.41546969681893375]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_9","position":[0.41422789085664435,1.274353147331213,0.71338606911949],"aabb_xy":[[0.3492278898561438,1.2235667821765381],[0.4792278918571448,1.325139512485888]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_10","position":[-0.043065385148401414,-1.4851231370279747,0.71338606911949],"aabb_xy":[[-0.06049610022740791,-1.502395251691825],[-0.025634670069394894,-1.4678510223641235]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_11","position":[0.23915723082021023,-2.4481906863464302,0.71338606911949],"aabb_xy":[[0.17515723165044028,-2.4949573734653927],[0.3031572299899802,-2.4014239992274677]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_12","position":[-0.5068996525393602,0.9318602685296509,0.71338606911949],"aabb_xy":[[-0.561899652161106,0.8768765757421781],[-0.45189965291761436,0.9868439613171236]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_13","position":[0.43227384343696507,1.1658545543460441,0.71338606911949],"aabb_xy":[[0.42486138789557654,1.1600033439244162],[0.4396862989783535,1.171705764767672]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_14","position":[-0.47056756053501303,1.3270054082366247,0.71338606911949],"aabb_xy":[[-0.5256927661646038,1.2670054067953374],[-0.41544235490542225,1.3870054096779116]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_15","position":[0.6109098282352956,1.6010440070052465,0.71338606911949],"aabb_xy":[[0.5734098277379374,1.5970753234571278],[0.6484098287326538,1.6050126905533648]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_16","position":[0.5255590755615545,-1.32218137656563,0.71338606911949],"aabb_xy":[[0.4887644424366482,-1.3590872516622121],[0.5623537086864607,-1.2852755014690476]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_17","position":[-0.16223617562112425,-1.1891799013797326,0.71338606911949],"aabb_xy":[[-0.18515188850617417,-1.2120841985161563],[-0.13932046273607437,-1.1662756042433093]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_18","position":[0.4830783366784812,-0.7769122461980018,0.71338606911949],"aabb_xy":[[0.4190783364045029,-0.8269783463952898],[0.5470783369524594,-0.7268461460007138]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_19","position":[0.3744076681168478,0.7960620706868031,0.71338606911949],"aabb_xy":[[0.3664136795391444,0.7880619905917127],[0.3824016566945512,0.8040621507818934]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_20","position":[0.5132543790648048,-2.0386346987981856,0.71338606911949],"aabb_xy":[[0.4482543781076775,-2.0905829107318907],[0.5782543800219319,-1.9866864868644798]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_21","position":[-0.5565236303963833,-0.551950189673684,0.71338606911949],"aabb_xy":[[-0.5848533403449236,-0.5564109318674012],[-0.5281939204478432,-0.5474894474799671]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_22","position":[-0.38764613279004095,-0.24206932493674094,0.71338606911949],"aabb_xy":[[-0.40228953834407394,-0.2567280445935252],[-0.37300272723600797,-0.22741060527995666]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6923161002754351,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8914.png","name":"8914"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8914.png","name":"8914"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2279.png","name":"2279"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/828.png","name":"828"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5118.png","name":"5118"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8179.png","name":"8179"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":799.9472440307911,"rotation_z_degrees":11.863374337153214,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015217381196744317,-0.015105977767738869,-0.0032045026188358416]},{"name":"camera_2","offset_m":[0.0053468466463341136,-0.00247363327119721,0.019487253995349268]},{"name":"camera_3","offset_m":[-0.01322071828697919,0.006707736985788467,-0.0007582854625706285]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00014704331546201797,0.0006498034183359024,-0.0003212817751405469],"end_effector_yaw_offset_degrees":-0.4133355550948479},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001379728550983708,0.0013043376020499455,-0.0007263672260826555],"end_effector_yaw_offset_degrees":0.1675448748348498},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001289635815491956,0.0006150798656223218,-0.0006949221203935766],"end_effector_yaw_offset_degrees":0.8242527183545141}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00483071036752286,0.0006248988007112079],"position_m":[0.2740692896324771,-0.1170751011992888,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004046459256900074,0.0026326334228972395],"position_m":[0.2305464592569001,-0.4065673665771028,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004098121636934004,0.003132619346244905],"position_m":[0.348501878363066,0.06913261934624491,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0012984031464950384,0.0018311906371537394],"position_m":[0.34090159685350496,0.3257311906371538,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c540daadeab56c1e2b8b08939480d0433907122db0a7642abfa1dd9a3ff5d3dd","episode_index":71,"episode_name":"episode_0071"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0071.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_8914/tex_ceiling_textures_8179/tex_floor_textures_5118/tex_table_textures_2279/tex_wall_textures_828","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":950757166580547417,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":950757166580547417,"visual_seed":950757166580547417,"scene_id":"lab_003","finished_at":"2026-09-04T02:50:40"} +{"episode_id":"ep_000072","started_at":"2026-09-04T02:50:43","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_0","position":[-0.28525653211759666,1.7478526513776775,0.71338606911949],"aabb_xy":[[-0.30283483430654345,1.7302781618035727],[-0.26767822992864976,1.7654271409517828]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_1","position":[-0.4872530186252143,-2.2730378654186953,0.71338606911949],"aabb_xy":[[-0.5372304354904678,-2.3230378669079434],[-0.43727560175996066,-2.2230378639294464]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_2","position":[0.10633719720293866,-1.4017464684199392,0.71338606911949],"aabb_xy":[[0.07849216042233155,-1.432530967158251],[0.13418223398354578,-1.3709619696816275]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_3","position":[-0.247741890072272,1.4062213559213266,0.71338606911949],"aabb_xy":[[-0.2847759995003317,1.371844148587617],[-0.21070778064421225,1.4405985632550358]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_4","position":[0.46340812793990116,-2.136069226515457,0.71338606911949],"aabb_xy":[[0.45163994114524375,-2.2210692264206786],[0.4751763147345588,-2.0510692266102355]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_5","position":[-0.47857569765220326,0.2725251176481365,0.71338606911949],"aabb_xy":[[-0.5425756980297369,0.2227798507973242],[-0.41457569727466964,0.32227038449894874]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_6","position":[0.058834056414070135,1.4246369600110156,0.71338606911949],"aabb_xy":[[0.008834055130230173,1.3746581056203935],[0.1088340576979101,1.4746158144016377]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_7","position":[-0.15513634005447985,1.1783201766939655,0.71338606911949],"aabb_xy":[[-0.20294250766824845,1.1133201739869063],[-0.10733017244071116,1.2433201794010242]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_8","position":[-0.33106105302862887,1.2063573493497857,0.71338606911949],"aabb_xy":[[-0.411061056292642,1.192797317040872],[-0.25106104976461574,1.2199173816586988]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_9","position":[0.19863441349374078,-0.9982113554120633,0.71338606911949],"aabb_xy":[[0.19329683782773618,-1.023211356341203],[0.20397198915974532,-0.9732113544829236]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_10","position":[-0.5184892081643592,0.4609166230421726,0.71338606911949],"aabb_xy":[[-0.5257715245410226,0.3709166194326635],[-0.5112068917876953,0.5509166266516814]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_11","position":[0.16543844121202944,1.8012343587546806,0.71338606911949],"aabb_xy":[[0.15934381332391112,1.792664964203012],[0.17153306910014776,1.8098037533063493]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_12","position":[0.5292397259572252,1.6990091536192709,0.71338606911949],"aabb_xy":[[0.46423972485128195,1.6740437805511428],[0.5942397270631685,1.7239745266873994]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_13","position":[-0.004711698475112214,-1.4374344991819468,0.71338606911949],"aabb_xy":[[-0.008827648587184878,-1.441550054214792],[-0.0005957483630395499,-1.433318944149101]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_14","position":[0.4319092682502572,0.4738456460411773,0.71338606911949],"aabb_xy":[[0.419037364749317,0.39384564562734115],[0.4447811717511973,0.5538456464550134]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_15","position":[0.641869606354831,0.2992389273348377,0.71338606911949],"aabb_xy":[[0.6342453382646528,0.291605703798294],[0.6494938744450093,0.3068721508713814]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_16","position":[-0.2527978759552228,-0.4388050284698344,0.71338606911949],"aabb_xy":[[-0.28328212608225295,-0.4888050282513304],[-0.22231362582819264,-0.3888050286883385]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_17","position":[-0.2707059263993625,0.2392441658072788,0.71338606911949],"aabb_xy":[[-0.28534933195339546,0.2245854461504945],[-0.2560625208453295,0.25390288546406303]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_18","position":[0.6866559896293125,-0.297142432978605,0.71338606911949],"aabb_xy":[[0.656688432719487,-0.3271424332764907],[0.7166235465391383,-0.2671424326807192]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_19","position":[0.11668395976692691,0.8042555176698278,0.71338606911949],"aabb_xy":[[0.0791839611913061,0.7915192220062699],[0.1541839583425477,0.8169918133333858]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_20","position":[0.3815270312605348,-0.7262776649512073,0.71338606911949],"aabb_xy":[[0.3115270296582553,-0.7397104581528648],[0.45152703286281426,-0.7128448717495497]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_21","position":[0.25404231564376356,1.3359582193420758,0.71338606911949],"aabb_xy":[[0.2503390543146246,1.332256201033358],[0.2577455769729024,1.3396602376507936]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_22","position":[-0.35061843553157623,-1.1709067023173612,0.71338606911949],"aabb_xy":[[-0.4056139133522356,-1.225906703751268],[-0.29562295771091684,-1.1159067008834542]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_23","position":[-0.5199958638759368,-0.36230131710103564,0.71338606911949],"aabb_xy":[[-0.569995139044373,-0.41230131837698286],[-0.4699965887075007,-0.3123013158250885]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_24","position":[0.1673321396973686,-2.304929114401806,0.71338606911949],"aabb_xy":[[0.07733214027899771,-2.338304611245995],[0.2573321391157395,-2.2715536175576156]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.69229989984218,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9833.png","name":"9833"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9833.png","name":"9833"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3946.png","name":"3946"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8919.png","name":"8919"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6566.png","name":"6566"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4309.png","name":"4309"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":808.356744267649,"rotation_z_degrees":163.33435480926505,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0183481604940796,-0.011577227294022953,-0.006874165693871736]},{"name":"camera_2","offset_m":[0.004249049618161763,0.0028254138814095726,-0.017454428984076526]},{"name":"camera_3","offset_m":[-0.0006594545182713393,-0.019988155115409693,-0.00748478372716881]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009630892067806803,-0.00027032576184203984,-0.0018610300124364833],"end_effector_yaw_offset_degrees":0.13449678280577926},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00048124586720503125,0.0016038666031885792,0.0015200768663107722],"end_effector_yaw_offset_degrees":0.6346108714034757},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005160747087133322,0.0014129977125386596,0.0008507792115220415],"end_effector_yaw_offset_degrees":-0.13477396726287205}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00411787792495704,-0.0031508381230277572],"position_m":[0.27478212207504293,-0.12085083812302776,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002471874994183484,-0.0013242616811771236],"position_m":[0.22402812500581654,-0.4105242616811771,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0031424778275320865,0.0037470635611994924],"position_m":[0.3557424778275321,0.0697470635611995,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00017489955499831646,-0.0009818670678925908],"position_m":[0.34237489955499834,0.3229181329321074,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5fc1dfde2666542c7ff60c73d0d3d81168cfba6bb40b64a218bb6d5d7d0d14f8","episode_index":72,"episode_name":"episode_0072"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0072.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_9833/tex_ceiling_textures_4309/tex_floor_textures_6566/tex_table_textures_3946/tex_wall_textures_8919","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":3359900745322541803,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":3359900745322541803,"visual_seed":3359900745322541803,"scene_id":"lab_003","finished_at":"2026-09-04T02:53:38"} +{"episode_id":"ep_000073","started_at":"2026-09-04T02:53:41","dimensions":{"distractor":{"count":34,"items":[{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_0","position":[0.6929606544143712,-0.5729434528564035,0.71338606911949],"aabb_xy":[[0.6820548783268084,-0.6529434492552326],[0.7038664305019339,-0.4929434564575743]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_1","position":[0.36046068433759815,-2.405348142651421,0.71338606911949],"aabb_xy":[[0.344576191072273,-2.4197010829502443],[0.3763451776029233,-2.3909952023525967]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_2","position":[0.6897182070764472,0.2637960064148541,0.71338606911949],"aabb_xy":[[0.6554212960587065,0.22949912020491275],[0.7240151180941876,0.2980928926247955]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_3","position":[0.14836812646411313,1.3652016915842173,0.71338606911949],"aabb_xy":[[0.14393749710927298,1.3597533198495348],[0.15279875581895333,1.3706500633188998]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_4","position":[0.6813288172770013,0.6733162986612062,0.71338606911949],"aabb_xy":[[0.6635353103420849,0.6555165530654086],[0.6991223242119178,0.6911160442570039]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_5","position":[0.41351629618472563,-0.3034147230990172,0.71338606911949],"aabb_xy":[[0.41007561994466846,-0.30727615607338166],[0.4169569724247828,-0.2995532901246527]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_6","position":[-0.17335010486819125,0.6580559683012588,0.71338606911949],"aabb_xy":[[-0.25335010629831844,0.5785388132886492],[-0.09335010343806407,0.7375731233138682]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_7","position":[-0.48781673768943035,-2.2557144019536413,0.71338606911949],"aabb_xy":[[-0.5038786651479479,-2.3407144037662326],[-0.47175481023091265,-2.170714400141049]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_8","position":[-0.6414719188590441,-1.3790407115047225,0.71338606911949],"aabb_xy":[[-0.6914493357242976,-1.4290407129939708],[-0.5914945019937904,-1.3290407100154737]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_9","position":[-0.2544102509163884,-2.2428494727420567,0.71338606911949],"aabb_xy":[[-0.3044102519355237,-2.2793156884798846],[-0.20441024989725315,-2.2063832570042288]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_10","position":[0.5697047714467547,-1.5854190095273686,0.71338606911949],"aabb_xy":[[0.5614902263310706,-1.5940955998250097],[0.5779193165624386,-1.576742419229727]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_11","position":[-0.5317269745223111,1.787484751212871,0.71338606911949],"aabb_xy":[[-0.5495960822767666,1.7736518432356598],[-0.5138578667678556,1.801317659190082]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_12","position":[0.6573375540517199,-2.063121869129238,0.71338606911949],"aabb_xy":[[0.6327913384289692,-2.093370765678275],[0.6818837696744706,-2.032872972580201]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_13","position":[0.01469557407978761,1.3980862151752915,0.71338606911949],"aabb_xy":[[-0.05530442752249187,1.384653421973634],[0.08469557568206709,1.411519008376949]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_14","position":[0.5943725782350748,-0.26711017010660987,0.71338606911949],"aabb_xy":[[0.5856746159443595,-0.2792351444140846],[0.6030705405257901,-0.25498519579913514]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_15","position":[-0.2071471862722717,0.4498422009225753,0.71338606911949],"aabb_xy":[[-0.287147183431847,0.4382945999647582],[-0.1271471891126964,0.4613898018803923]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_16","position":[0.016016583238670057,-0.8163714058567806,0.71338606911949],"aabb_xy":[[-0.0479834191041315,-0.8613122571009131],[0.08001658558147161,-0.7714305546126481]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_17","position":[0.19775565875577628,-1.0665446690120597,0.71338606911949],"aabb_xy":[[0.15276307203732586,-1.1115446682865084],[0.2427482454742267,-1.021544669737611]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_18","position":[-0.3957769868803629,0.26471569989422417,0.71338606911949],"aabb_xy":[[-0.4457557953906788,0.2147156998885053],[-0.345798178370047,0.3147156998999429]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_19","position":[-0.1467651992760275,1.7079828651974673,0.71338606911949],"aabb_xy":[[-0.196738264808543,1.6579828653849351],[-0.09679213374351206,1.757982865010001]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_20","position":[0.03547714979323613,-0.6542517060225925,0.71338606911949],"aabb_xy":[[0.030521129608354937,-0.6767517062247143],[0.040433169978117335,-0.631751705820471]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_21","position":[-0.14511896768948873,-0.9710381651647777,0.71338606911949],"aabb_xy":[[-0.20911896499183513,-1.0154045921326342],[-0.08111897038714233,-0.9266717381969207]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_22","position":[-0.5950256343281625,-0.38625625236431027,0.71338606911949],"aabb_xy":[[-0.6445060555421213,-0.45025625027716215],[-0.5455452131142037,-0.3222562544514585]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_23","position":[0.4235455423487362,-2.2290302300616993,0.71338606911949],"aabb_xy":[[0.4109187550615398,-2.2385763037632724],[0.4361723296359325,-2.219484156360126]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_24","position":[-0.018714079465501077,1.121253946533554,0.71338606911949],"aabb_xy":[[-0.03304850459166453,1.1091937309790152],[-0.004379654339337621,1.1333141620880929]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_25","position":[-0.437892214631686,1.3821590340216874,0.71338606911949],"aabb_xy":[[-0.4738057190566756,1.3462455258049326],[-0.40197871020669623,1.4180725422384417]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_26","position":[-0.40476349648587323,-2.2732305759911724,0.71338606911949],"aabb_xy":[[-0.42998433334571284,-2.298454326844058],[-0.3795426596260335,-2.248006825138285]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_27","position":[0.534536312373489,0.5154673977779622,0.71338606911949],"aabb_xy":[[0.4445363137790189,0.4992168114645412],[0.6245363109679588,0.5317179840913833]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_28","position":[0.01725319910435852,-2.4281674780350113,0.71338606911949],"aabb_xy":[[-0.019541434020547758,-2.4650733531315936],[0.05404783222926479,-2.391261602938429]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_29","position":[-0.5959933598269357,0.3527770661162575,0.71338606911949],"aabb_xy":[[-0.6411646776751047,0.28877706897171906],[-0.5508220419787667,0.41677706326079594]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_30","position":[-0.11083413104717432,-0.6997762845915145,0.71338606911949],"aabb_xy":[[-0.14833412947057467,-0.712940498559345],[-0.07333413262377399,-0.6866120706236838]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_31","position":[0.11014128481967989,-1.701064785433672,0.71338606911949],"aabb_xy":[[0.05612568853777988,-1.765064788325929],[0.1641568811015799,-1.6370647825414146]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_32","position":[-0.4925187241294068,-1.0112373059747255,0.71338606911949],"aabb_xy":[[-0.542502959837584,-1.061237304788221],[-0.44253448842122955,-0.9612373071612299]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_33","position":[-0.13625360645896134,0.997339904365417,0.71338606911949],"aabb_xy":[[-0.1494845519936426,0.9841124853434176],[-0.12302266092428002,1.0105673233874164]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6942341908845754,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/50.png","name":"50"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/50.png","name":"50"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2365.png","name":"2365"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9128.png","name":"9128"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7673.png","name":"7673"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5716.png","name":"5716"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":526.7733629617549,"rotation_z_degrees":79.35447350157239,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009060275034219207,-0.018573706206184957,0.011236647122533697]},{"name":"camera_2","offset_m":[-0.0058654342034115455,-0.014781640252233155,-0.010526661473619843]},{"name":"camera_3","offset_m":[0.006623311945323913,-0.002171061267800107,0.007679447872039766]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011289417456924343,-0.0013819316450955075,-0.001751610645041222],"end_effector_yaw_offset_degrees":-0.32597390322737074},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0002070779006238337,0.0007895428954727236,0.0011358326342805706],"end_effector_yaw_offset_degrees":0.7565116378232901},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016425549046619242,-0.0005804361925074617,-0.0007424916591790081],"end_effector_yaw_offset_degrees":-0.5255288260316129}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0002760826146852684,0.00368971491758427],"position_m":[0.27917608261468524,-0.11401028508241573,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004578838126365115,-0.0009405713068186237],"position_m":[0.23107883812636512,-0.41014057130681864,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00029346806773152597,0.0021520516495157436],"position_m":[0.35289346806773153,0.06815205164951575,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0011484895292880447,0.0013148966825951326],"position_m":[0.34334848952928804,0.3252148966825952,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6dde467794b81595bba832d6c808a6a773e2b026382ff071eb37004a3e8b8832","episode_index":73,"episode_name":"episode_0073"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0073.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_50/tex_ceiling_textures_5716/tex_floor_textures_7673/tex_table_textures_2365/tex_wall_textures_9128","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":6509971073132751433,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":6509971073132751433,"visual_seed":6509971073132751433,"scene_id":"lab_003","finished_at":"2026-09-04T02:56:23"} +{"episode_id":"ep_000074","started_at":"2026-09-04T02:56:27","dimensions":{"distractor":{"count":32,"items":[{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_0","position":[-0.2590039968304654,1.739428003501359,0.71338606911949],"aabb_xy":[[-0.3490039962488362,1.7060525066571692],[-0.16900399741209443,1.7728035003455487]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_1","position":[-0.28448909534164246,-1.810786659866209,0.71338606911949],"aabb_xy":[[-0.33446238934490286,-1.8607866604207561],[-0.23451580133838196,-1.7607866593116615]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_2","position":[0.04396422755440044,-2.111233339643358,0.71338606911949],"aabb_xy":[[-0.0060357720219342825,-2.1612139185954637],[0.09396422713073516,-2.061252760691252]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_3","position":[-0.09032254585971222,-0.8282169348350681,0.71338606911949],"aabb_xy":[[-0.15432254314536087,-0.8697236537879119],[-0.026322548574063576,-0.786710215882224]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_4","position":[-0.21563265909366042,-2.472767857830009,0.71338606911949],"aabb_xy":[[-0.2302760646476934,-2.4874265774867927],[-0.20098925353962743,-2.4581091381732243]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_5","position":[-0.6855366815030073,1.1811053189696032,0.71338606911949],"aabb_xy":[[-0.6919504951461921,1.174695498721935],[-0.6791228678598222,1.1875151392172716]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_6","position":[-0.5139405957361742,1.1399582843039084,0.71338606911949],"aabb_xy":[[-0.5240936112903235,1.1038887427311679],[-0.5037875801820247,1.1760278258766486]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_7","position":[-0.4157717786810855,-2.5015956064340377,0.71338606911949],"aabb_xy":[[-0.4199076350137857,-2.539095605878395],[-0.4116359223483853,-2.464095606989681]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_8","position":[0.44849856970776303,0.8974899189382155,0.71338606911949],"aabb_xy":[[0.39851433399958575,0.8474899201247198],[0.4984828054159402,0.947489917751711]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_9","position":[0.5984323829659308,-1.2328984614749539,0.71338606911949],"aabb_xy":[[0.5344323796762227,-1.2762333804788715],[0.6624323862556389,-1.1895635424710362]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_10","position":[0.45920960194487903,-0.8120619416273858,0.71338606911949],"aabb_xy":[[0.4433251086795539,-0.8264148819262098],[0.4750940952102042,-0.7977090013285617]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_11","position":[0.11596773114293113,-1.3567268230868155,0.71338606911949],"aabb_xy":[[0.05196773403082544,-1.4057591928812263],[0.17996772825503682,-1.307694453292405]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_12","position":[-0.579162383274748,0.08833305605734632,0.71338606911949],"aabb_xy":[[-0.6037085988974987,0.05808415950830926],[-0.5546161676519973,0.11858195260638338]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_13","position":[-0.5902713807155126,-1.4106839505298305,0.71338606911949],"aabb_xy":[[-0.5958530523496411,-1.423183950347606],[-0.5846897090813837,-1.398183950712055]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_14","position":[0.3583107267740775,1.4935285871432566,0.71338606911949],"aabb_xy":[[0.3546074654449386,1.4898265688345387],[0.3620139881032164,1.4972306054519742]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_15","position":[0.06479135418898618,0.8861012927632275,0.71338606911949],"aabb_xy":[[0.05437979550850246,0.8807555594273287],[0.07520291286946988,0.8914470260991257]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_16","position":[-0.05496082866451513,0.3702627081170804,0.71338606911949],"aabb_xy":[[-0.062243145041178775,0.2802627045075713],[-0.047678512287851464,0.4602627117265893]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_17","position":[0.052050136035087236,-2.481752441771634,0.71338606911949],"aabb_xy":[[0.002071327524771349,-2.531752441777353],[0.10202894454540312,-2.4317524417659153]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_18","position":[-0.20310821939195328,-1.6723271520316794,0.71338606911949],"aabb_xy":[[-0.23810821770264867,-1.680042166955225],[-0.16810822108125778,-1.6646121371081337]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_19","position":[-0.2721909755424564,0.7872899791438939,0.71338606911949],"aabb_xy":[[-0.30719097381257626,0.7802158514489057],[-0.23719097727233646,0.794364106838882]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_20","position":[-0.5978735864384701,1.4138789451391784,0.71338606911949],"aabb_xy":[[-0.6878735831740802,1.3606954818218837],[-0.5078735897028598,1.4670624084564727]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_21","position":[0.4217055855718743,1.573853165859663,0.71338606911949],"aabb_xy":[[0.3717055845527391,1.5373869501218356],[0.4717055865910097,1.6103193815974914]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_22","position":[-0.09930211662560984,-1.172628909183818,0.71338606911949],"aabb_xy":[[-0.11192890391280617,-1.182174982885391],[-0.08667532933841347,-1.1630828354822451]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_23","position":[-0.20987303156998172,1.2480107711563337,0.71338606911949],"aabb_xy":[[-0.2898730289735751,1.168018199958151],[-0.12987303416638826,1.3280033423545166]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_24","position":[0.6213017299536396,0.5067200313945346,0.71338606911949],"aabb_xy":[[0.5734955623398709,0.4417200286874756],[0.6691078975674082,0.5717200341015936]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_25","position":[-0.5043814833369736,-0.5295004819703193,0.71338606911949],"aabb_xy":[[-0.5495528011851427,-0.5935004791148577],[-0.4592101654888048,-0.4655004848257809]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_26","position":[-0.3551449133569767,1.817511694722222,0.71338606911949],"aabb_xy":[[-0.35926086346904934,1.8133961396893767],[-0.351028963244904,1.8216272497550678]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_27","position":[0.5295944159872659,-0.21299460285863026,0.71338606911949],"aabb_xy":[[0.5255162580802161,-0.21707558310689354],[0.5336725738943154,-0.20891362261036692]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_28","position":[-0.5803646537409554,-0.00533964564636058,0.71338606911949],"aabb_xy":[[-0.5856971683955683,-0.010663973891596179],[-0.5750321390863424,-1.5317401124981256e-05]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_29","position":[-0.024674691708437613,-2.331068179432613,0.71338606911949],"aabb_xy":[[-0.033455918855673845,-2.3398479267211436],[-0.01589346456120139,-2.322288432144083]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_30","position":[-0.17186257651891723,-0.209203033932448,0.71338606911949],"aabb_xy":[[-0.20226068761806082,-0.23960993593411747],[-0.14146446541977364,-0.17879613193077845]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_31","position":[-0.3854432624851927,1.1986557812058227,0.71338606911949],"aabb_xy":[[-0.43492368369915146,1.1346557832929711],[-0.3359628412712339,1.2626557791186748]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6938728165938073,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8100.png","name":"8100"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8100.png","name":"8100"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8025.png","name":"8025"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6138.png","name":"6138"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7649.png","name":"7649"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8853.png","name":"8853"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":575.5248364318651,"rotation_z_degrees":46.49291932264859,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013706632751331726,0.010784490349110748,-0.012511001772931817]},{"name":"camera_2","offset_m":[-0.008132642734564394,-0.00021676593062597976,-0.0037680348525341717]},{"name":"camera_3","offset_m":[0.01258144767248216,-0.018184076873652387,-0.004049398700123351]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0002040909520444733,-0.00037227009181641044,0.0014642689847271578],"end_effector_yaw_offset_degrees":0.5882411636659777},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009690348200171706,-0.0004327915414779758,-0.001301526988888062],"end_effector_yaw_offset_degrees":0.8452354447165731},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00061632888067991,-0.0010273965996194874,-0.0012301295538946991],"end_effector_yaw_offset_degrees":0.6489336078119599}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0037409027098683585,-0.0026096957790293553],"position_m":[0.28264090270986836,-0.12030969577902935,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0025265611385286847,0.0018623893957379935],"position_m":[0.22397343886147134,-0.407337610604262,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003209336618234095,-0.0007602495595543414],"position_m":[0.3558093366182341,0.06523975044044567,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0017791414937989225,-0.0006522834670016605],"position_m":[0.34397914149379893,0.3232477165329984,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d1c273d0b76793c3362892d78100fb490315d84b5e87b4c8cf74ef59846d11bb","episode_index":74,"episode_name":"episode_0074"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0074.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_8100/tex_ceiling_textures_8853/tex_floor_textures_7649/tex_table_textures_8025/tex_wall_textures_6138","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":3756520080672735132,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":3756520080672735132,"visual_seed":3756520080672735132,"scene_id":"lab_003","finished_at":"2026-09-04T02:59:14"} +{"episode_id":"ep_000075","started_at":"2026-09-04T02:59:17","dimensions":{"distractor":{"count":35,"items":[{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_0","position":[-0.4395490630173365,1.7904667271521189,0.71338606911949],"aabb_xy":[[-0.5295490627405106,1.7673933746169386],[-0.3495490632941623,1.8135400796872982]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_1","position":[0.10231432478927693,1.6089629491189128,0.71338606911949],"aabb_xy":[[0.06481432449710212,1.604921473718309],[0.13981432508145175,1.613004424519516]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_2","position":[-0.37984576419043975,1.4266467383766819,0.71338606911949],"aabb_xy":[[-0.40201829116709054,1.4044710712205588],[-0.3576732372137889,1.448822405532805]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_3","position":[-0.5027500293187339,-0.7632138626413303,0.71338606911949],"aabb_xy":[[-0.5827500267223272,-0.8432064338395131],[-0.42275003191514043,-0.6832212914431475]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_4","position":[0.15127537249646916,-0.9082629932793804,0.71338606911949],"aabb_xy":[[0.11749981330577616,-0.9223014884925456],[0.1850509316871621,-0.8942244980662155]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_5","position":[-0.12799873843179654,1.5504529882507136,0.71338606911949],"aabb_xy":[[-0.17299132515024698,1.5054529889762651],[-0.08300615171334616,1.5954529875251626]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_6","position":[-0.30056095669968924,-0.22338263230638988,0.71338606911949],"aabb_xy":[[-0.36456095696016,-0.26839143165931784],[-0.2365609564392184,-0.17837383295346185]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_7","position":[0.015872212562266452,0.9925360775611551,0.71338606911949],"aabb_xy":[[-0.04912778747203628,0.9458354008808278],[0.08087221259656918,1.0392367542414824]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_8","position":[0.6515323382307339,-1.716255600931618,0.71338606911949],"aabb_xy":[[0.614032337566155,-1.7319426589318399],[0.6890323388953125,-1.7005685429313955]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_9","position":[-0.42174281846762235,1.6213754397842606,0.71338606911949],"aabb_xy":[[-0.4917428205990518,1.598613474158565],[-0.3517428163361927,1.6441374054099562]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_10","position":[0.3620420289839794,0.8584975900263694,0.71338606911949],"aabb_xy":[[0.33575320466353875,0.8322261563717179],[0.3883308533044201,0.8847690236810204]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_11","position":[0.33739223582681066,-2.3617716170303025,0.71338606911949],"aabb_xy":[[0.27739223557540943,-2.416052942066767],[0.3973922360782118,-2.307490291993837]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_12","position":[0.18005637709084665,-2.243301527120413,0.71338606911949],"aabb_xy":[[0.16682543155616533,-2.256528946142412],[0.19328732262552792,-2.230074108098413]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_13","position":[-0.18464947631219586,0.8545725396175219,0.71338606911949],"aabb_xy":[[-0.23464947726272864,0.8230233926140004],[-0.13464947536166302,0.8861216866210432]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_14","position":[-0.10546158801117611,0.5983566494798951,0.71338606911949],"aabb_xy":[[-0.13977786518579405,0.5483566495067174],[-0.07114531083655817,0.6483566494530728]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_15","position":[0.6291718960044637,-0.23439289227370974,0.71338606911949],"aabb_xy":[[0.6179268404338458,-0.245634689997805],[0.6404169515750815,-0.22315109454961443]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_16","position":[-0.6725828661572274,-0.004243407866717508,0.71338606911949],"aabb_xy":[[-0.6799953216986159,-0.010094618288345458],[-0.6651704106158389,0.0016078025549104433]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_17","position":[0.4671875378784067,0.595238256623102,0.71338606911949],"aabb_xy":[[0.42864184505320574,0.5566924855669134],[0.5057332307036078,0.6337840276792907]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_18","position":[-0.5548544324969957,-1.5893886147623775,0.71338606911949],"aabb_xy":[[-0.577354432020703,-1.6118845622129976],[-0.5323544329732882,-1.566892667311756]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_19","position":[0.5191296020159262,0.3360786904059325,0.71338606911949],"aabb_xy":[[0.43912960403514106,0.3284771494440806],[0.5991295999967111,0.34368023136778447]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_20","position":[-0.34370579447202,-0.06017579266583173,0.71338606911949],"aabb_xy":[[-0.3516290747107683,-0.08267579290383509],[-0.33578251423327166,-0.03767579242782837]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_21","position":[0.4015701492063104,-1.9947895443831059,0.71338606911949],"aabb_xy":[[0.3906643731187477,-2.074789540781935],[0.4124759252938731,-1.914789547984277]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_22","position":[-0.09030273625753582,-2.1041569242027602,0.71338606911949],"aabb_xy":[[-0.12621624068252552,-2.1400704324195146],[-0.054389231832546125,-2.068243415986005]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_23","position":[-0.2681926045342758,-2.5522833187319454,0.71338606911949],"aabb_xy":[[-0.2762188751649018,-2.561034813709298],[-0.2601663339036498,-2.5435318237545927]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_24","position":[0.5821804238487136,-0.7746086884388133,0.71338606911949],"aabb_xy":[[0.5510335050051305,-0.8446086871256203],[0.6133273426922967,-0.704608689752006]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_25","position":[-0.12843487325255354,1.6664396355588988,0.71338606911949],"aabb_xy":[[-0.15093487306645595,1.6619650191884179],[-0.10593487343865118,1.6709142519293794]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_26","position":[-0.2448478979963647,-1.5367661347036494,0.71338606911949],"aabb_xy":[[-0.28169844593335225,-1.5742661355266834],[-0.20799735005937706,-1.499266133880616]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_27","position":[-0.34837671878470805,1.1661788885844606,0.71338606911949],"aabb_xy":[[-0.4083767204276299,1.1141787392925167],[-0.2883767171417862,1.218179037876405]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_28","position":[-0.34286870400316505,-2.392574705020138,0.71338606911949],"aabb_xy":[[-0.36786870327512733,-2.4089200686163004],[-0.31786870473120277,-2.3762293414239757]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_29","position":[-0.5582794949682275,0.5893211720562062,0.71338606911949],"aabb_xy":[[-0.5691199731947424,0.5721348907655573],[-0.5474390167417126,0.606507453346855]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_30","position":[-0.11810856540623271,0.387327054274651,0.71338606911949],"aabb_xy":[[-0.12622222007960981,0.3792212378206219],[-0.10999491073285561,0.39543287072868005]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_31","position":[-0.6280043371932547,-1.8965742107584016,0.71338606911949],"aabb_xy":[[-0.6566536695536708,-1.9252197700354772],[-0.5993550048328383,-1.8679286514813256]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_32","position":[0.3146363576128919,-2.142693214896426,0.71338606911949],"aabb_xy":[[0.2496363565069486,-2.167658587964554],[0.37963635871883517,-2.117727841828297]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_33","position":[0.07480272177261071,-2.0145303790444196,0.71338606911949],"aabb_xy":[[0.05963055249097739,-2.0296992359726227],[0.08997489105424407,-1.9993615221162162]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_34","position":[0.6894767021394406,-1.8672926627961295,0.71338606911949],"aabb_xy":[[0.6718010715508421,-1.884972879075532],[0.7071523327280388,-1.8496124465167265]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6907315015058342,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9782.png","name":"9782"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9782.png","name":"9782"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6823.png","name":"6823"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9290.png","name":"9290"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3995.png","name":"3995"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5225.png","name":"5225"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":554.5797204209302,"rotation_z_degrees":139.13037592113497,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019404161606697553,0.004008902620598026,0.002372946225332309]},{"name":"camera_2","offset_m":[-0.005115804882853828,0.018488949139005378,0.0075446270395615085]},{"name":"camera_3","offset_m":[-0.0039250859456758345,0.01990739131273545,-0.013090218582628035]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0005190926629280899,0.0008790919324966539,-0.0005515130366090131],"end_effector_yaw_offset_degrees":-0.22522162809962532},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001845050503204572,-0.00013658423480169364,0.0015258929503880647],"end_effector_yaw_offset_degrees":-0.11265750404249752},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016895883336259148,-0.0007788773877944904,-0.0018088600048978818],"end_effector_yaw_offset_degrees":-0.421053502064489}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004616732056964495,0.0005242196775610301],"position_m":[0.2835167320569645,-0.11717578032243897,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0015077775636971593,-0.0034749755610196777],"position_m":[0.22800777756369717,-0.4126749755610197,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0025073147954834843,-0.002730903798375872],"position_m":[0.35009268520451653,0.06326909620162413,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002239048782617058,0.00022595094214134057],"position_m":[0.33996095121738296,0.32412595094214136,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3c1796be2b89106a572e6e9dc9e315b1d5177118e90fd3d2e0055ea7ed0727a3","episode_index":75,"episode_name":"episode_0075"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0075.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_9782/tex_ceiling_textures_5225/tex_floor_textures_3995/tex_table_textures_6823/tex_wall_textures_9290","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":6779445038859861970,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":6779445038859861970,"visual_seed":6779445038859861970,"scene_id":"lab_003","finished_at":"2026-09-04T03:01:59"} +{"episode_id":"ep_000076","started_at":"2026-09-04T03:02:02","dimensions":{"distractor":{"count":29,"items":[{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_0","position":[-0.5921650534215427,1.6224076294460636,0.71338606911949],"aabb_xy":[[-0.6521650532681095,1.565589007253025],[-0.5321650535749759,1.6792262516391023]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_1","position":[0.061460448793045463,-1.0590611551329212,0.71338606911949],"aabb_xy":[[0.043913753876926524,-1.0965611566971725],[0.0790071437091644,-1.02156115356867]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_2","position":[0.5158258682035461,-1.3232949471659154,0.71338606911949],"aabb_xy":[[0.46085214616721326,-1.3782949467301486],[0.570799590239879,-1.2682949476016823]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_3","position":[0.6369200146506317,-0.6216909490786364,0.71338606911949],"aabb_xy":[[0.5869200132897445,-0.6716688536540519],[0.686920016011519,-0.5717130445032207]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_4","position":[0.30632016853007893,1.4315940022414604,0.71338606911949],"aabb_xy":[[0.2986169778560019,1.423884631542722],[0.31402335920415597,1.4393033729401983]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_5","position":[-0.0571507671181668,1.0414406377991465,0.71338606911949],"aabb_xy":[[-0.14683784342628226,0.951440637544696],[0.03253630918994866,1.131440638053597]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_6","position":[-0.6667510141499341,-2.435618623845304,0.71338606911949],"aabb_xy":[[-0.6776026203988097,-2.446477914572955],[-0.6558994079010585,-2.4247593331176533]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_7","position":[0.18116757398876893,-1.6904527811057044,0.71338606911949],"aabb_xy":[[0.17520103504803314,-1.696413925765068],[0.18713411292950471,-1.6844916364463403]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_8","position":[-0.15697505628841257,-2.303833889849112,0.71338606911949],"aabb_xy":[[-0.226975058097158,-2.3251876586132996],[-0.08697505447966714,-2.282480121084925]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_9","position":[-0.4934849079092537,0.23950590038273356,0.71338606911949],"aabb_xy":[[-0.5434849073494492,0.18953797589841723],[-0.443484908469058,0.28947382486704987]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_10","position":[-0.30792455648516537,1.0348676996737853,0.71338606911949],"aabb_xy":[[-0.35774133595000007,0.984867701189482],[-0.25810777702033055,1.0848676981580887]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_11","position":[0.3826401110115407,1.334973687700951,0.71338606911949],"aabb_xy":[[0.34514011106777426,1.3266805976661145],[0.42014011095530707,1.3432667777357876]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_12","position":[0.2112172068323933,1.5843049974089927,0.71338606911949],"aabb_xy":[[0.20713904892534357,1.5802240171607294],[0.21529536473944305,1.588385977657256]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_13","position":[-0.4721448316735753,1.5360613764676958,0.71338606911949],"aabb_xy":[[-0.48461218978331094,1.5235960518343723],[-0.45967747356383964,1.5485267011010193]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_14","position":[-0.23527640435640224,0.39327081655835583,0.71338606911949],"aabb_xy":[[-0.3052764069929886,0.3731659515624902],[-0.1652764017198159,0.4133756815542212]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_15","position":[0.5755483460903115,-2.0239928241185816,0.71338606911949],"aabb_xy":[[0.5580483469559442,-2.0338724511561694],[0.5930483452246785,-2.014113197080994]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_16","position":[-0.16452243436099534,1.639853212136789,0.71338606911949],"aabb_xy":[[-0.2145224339373301,1.5898726331846833],[-0.11452243478466065,1.6898337910888952]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_17","position":[-0.16128130047704947,-0.2989128571723234,0.71338606911949],"aabb_xy":[[-0.16591641562928283,-0.302780192249472],[-0.15664618532481606,-0.2950455220951747]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_18","position":[-0.14012413771399856,0.6406061694280321,0.71338606911949],"aabb_xy":[[-0.19010708790147787,0.5906061697854716],[-0.09014118752651921,0.6906061690705925]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_19","position":[-0.5975108507225428,-1.23585619809174,0.71338606911949],"aabb_xy":[[-0.6024101430291062,-1.2635331173943087],[-0.5926115584159792,-1.2081792787891712]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_20","position":[0.5353141985466812,-1.638754592198419,0.71338606911949],"aabb_xy":[[0.5244737203201663,-1.6559408734890677],[0.5461546767731961,-1.6215683109077699]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_21","position":[0.26816564350438776,1.6581269557951512,0.71338606911949],"aabb_xy":[[0.24625696136503666,1.6362262889750603],[0.29007432564373875,1.6800276226152417]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_22","position":[0.49642901918276516,0.5343257347848156,0.71338606911949],"aabb_xy":[[0.44642901752127034,0.48432729252911283],[0.5464290208442598,0.5843241770405182]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_23","position":[-0.5074328974379959,-0.2883005029698249,0.71338606911949],"aabb_xy":[[-0.5714328947236446,-0.3298072219226689],[-0.44343290015234726,-0.246793784016981]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_24","position":[0.2098937824917364,-0.9459894943208809,0.71338606911949],"aabb_xy":[[0.17543130447864863,-0.9526531715038037],[0.24435626050482417,-0.939325817137958]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_25","position":[-0.572607870713363,0.6900185260446894,0.71338606911949],"aabb_xy":[[-0.5857591166846524,0.6650185262880028],[-0.5594566247420737,0.7150185258013759]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_26","position":[0.5423246650593883,-0.8756207973674033,0.71338606911949],"aabb_xy":[[0.5262627376008705,-0.960620799179995],[0.5583865925179058,-0.7906207955548114]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_27","position":[-0.6000675154403314,1.4146242063956618,0.71338606911949],"aabb_xy":[[-0.6245811395373373,1.3903596130936253],[-0.5755538913433256,1.4388887996976982]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_28","position":[0.6649408038085858,-2.548882360365505,0.71338606911949],"aabb_xy":[[0.6474408035635363,-2.5663821482050713],[0.682440804053635,-2.5313825725259376]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6937473659008501,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3479.png","name":"3479"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3479.png","name":"3479"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1401.png","name":"1401"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7997.png","name":"7997"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7972.png","name":"7972"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6359.png","name":"6359"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":672.3779024368571,"rotation_z_degrees":248.00010989554002,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010510078521901552,-0.018845736738029313,-0.015684035165492438]},{"name":"camera_2","offset_m":[0.0008614287546194963,-0.008974029169901723,-0.0037862835588661214]},{"name":"camera_3","offset_m":[-0.016800113252264163,0.009608782866883159,0.014585334318549272]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0016473410434151218,-0.0008253007921607228,-0.0006668364287593001],"end_effector_yaw_offset_degrees":0.19772887025643526},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0003881602284087019,-0.0009578472517257843,0.0012722637096304382],"end_effector_yaw_offset_degrees":0.5800720484475332},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00040687883997150235,-0.00027265603658276137,0.0019779087496508696],"end_effector_yaw_offset_degrees":0.6569600594666212}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0006744841005685044,0.003923448770693615],"position_m":[0.27822551589943145,-0.11377655122930638,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0038756762914390597,0.0028057433774164066],"position_m":[0.22262432370856094,-0.4063942566225836,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004970244593299203,0.003892311261761208],"position_m":[0.3476297554067008,0.06989231126176121,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0011564998946562177,0.004598455950416081],"position_m":[0.3410435001053438,0.3284984559504161,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b94b72c7f72ddcbde10529923aa73cf56ef98ac74a0f0dd1fd17bea3028f3b12","episode_index":76,"episode_name":"episode_0076"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0076.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_3479/tex_ceiling_textures_6359/tex_floor_textures_7972/tex_table_textures_1401/tex_wall_textures_7997","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":3124011332214994387,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":3124011332214994387,"visual_seed":3124011332214994387,"scene_id":"lab_003","finished_at":"2026-09-04T03:04:45"} +{"episode_id":"ep_000077","started_at":"2026-09-04T03:04:49","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_0","position":[0.21970308427805374,-1.0203014418414862,0.71338606911949],"aabb_xy":[[0.1557030820576467,-1.0646745259667745],[0.28370308649846077,-0.9759283577161979]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_1","position":[0.5934641047367759,-0.5435470869522407,0.71338606911949],"aabb_xy":[[0.586423794803239,-0.6235470863519121],[0.600504414670313,-0.46354708755256935]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_2","position":[0.42754275359507155,-1.1390129793543071,0.71338606911949],"aabb_xy":[[0.34754275312485566,-1.1473236869686556],[0.5075427540652876,-1.130702271739959]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_3","position":[0.256770950153823,-2.333602260566916,0.71338606911949],"aabb_xy":[[0.2521358350015896,-2.3374695956440643],[0.2614060653060563,-2.329734925489767]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_4","position":[0.23591046356262024,-2.5712605212955073,0.71338606911949],"aabb_xy":[[0.15591046558183522,-2.578862062257359],[0.3159104615434053,-2.563658980333655]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_5","position":[0.03289875224087613,-1.3297467119906061,0.71338606911949],"aabb_xy":[[-0.004135357187183594,-1.3641239193243155],[0.06993286166893584,-1.2953695046568967]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_6","position":[0.616542453809358,-0.8630397421828331,0.71338606911949],"aabb_xy":[[0.6067864643001841,-0.8728022762420675],[0.6262984433185319,-0.8532772081235986]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_7","position":[-0.32806583996715744,1.7046350914350605,0.71338606911949],"aabb_xy":[[-0.33677980901709187,1.682135090775872],[-0.3193518709172229,1.7271350920942485]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_8","position":[-0.5122461627304788,-0.07763785651583666,0.71338606911949],"aabb_xy":[[-0.5672198847668117,-0.13263785608006984],[-0.45727244069414597,-0.02263785695160349]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_9","position":[0.2796459525386882,1.2061456497805652,0.71338606911949],"aabb_xy":[[0.23356086128395673,1.14214565252801],[0.32573104379341966,1.2701456470331203]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_10","position":[0.051985603630477994,1.6892387621922587,0.71338606911949],"aabb_xy":[[0.04567350409413957,1.6834718229390397],[0.058297703166816435,1.6950057014454776]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_11","position":[-0.2889596224074446,-0.4470391576822874,0.71338606911949],"aabb_xy":[[-0.29776167771641726,-0.45485048383721643],[-0.28015756709847184,-0.4392278315273583]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_12","position":[-0.2687662642676726,0.3094793392142825,0.71338606911949],"aabb_xy":[[-0.28697208792892026,0.29845393863229086],[-0.2505604406064249,0.32050473979627414]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_13","position":[-0.17134764149644022,0.8736409564782872,0.71338606911949],"aabb_xy":[[-0.20174575259558378,0.8432340544766176],[-0.1409495303972966,0.9040478584799566]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_14","position":[0.5303686356306097,-0.3726022370123183,0.71338606911949],"aabb_xy":[[0.492868635813576,-0.3772404483234601],[0.5678686354476431,-0.3679640257011764]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_15","position":[-0.5604173984305183,-2.084679091714529,0.71338606911949],"aabb_xy":[[-0.5989630912557193,-2.1232248627707175],[-0.5218717056053173,-2.04613332065834]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_16","position":[-0.41520386395124204,1.2370278260073317,0.71338606911949],"aabb_xy":[[-0.4377038644632826,1.2145359676419334],[-0.3927038634392014,1.25951968437273]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_17","position":[0.17290593578856217,0.8977417654546254,0.71338606911949],"aabb_xy":[[0.1582625302345292,0.8830830457978411],[0.18754934134259515,0.9124004851114096]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_18","position":[0.1440955327974014,1.7698378239143824,0.71338606911949],"aabb_xy":[[0.1387630181427884,1.764513495669147],[0.14942804745201438,1.7751621521596181]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_19","position":[-0.0820717614769696,1.4678346724935927,0.71338606911949],"aabb_xy":[[-0.10457089720319657,1.44533467171533],[-0.059572625750742625,1.4903346732718559]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_20","position":[0.5287545224804797,0.3431617418230175,0.71338606911949],"aabb_xy":[[0.48773657909410895,0.2931617411920602],[0.5697724658668507,0.39316174245397484]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_21","position":[-0.3396419723663888,-1.0501493799397388,0.71338606911949],"aabb_xy":[[-0.3515747067282169,-1.0625315327475982],[-0.32770923800456075,-1.0377672271318794]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_22","position":[0.10935590512330318,-0.7626910323834011,0.71338606911949],"aabb_xy":[[0.07250535718631558,-0.8001910332064347],[0.1462064530602908,-0.7251910315603672]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6913813057096359,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2305.png","name":"2305"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2305.png","name":"2305"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3683.png","name":"3683"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8497.png","name":"8497"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8190.png","name":"8190"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7614.png","name":"7614"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":636.3750134244899,"rotation_z_degrees":133.46388306864293,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01713893305647485,0.007846606309405705,-0.01634379303651951]},{"name":"camera_2","offset_m":[-0.014205237022948257,0.015473774467635811,0.010978388643416014]},{"name":"camera_3","offset_m":[-0.009182317928201695,-0.01367389516986917,0.019449231084418834]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[3.957510531816784e-05,-0.0017552821798262168,-0.0018988879571328159],"end_effector_yaw_offset_degrees":-0.049895666440693986},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00019930767881246188,-0.0013007086528001905,-8.927951814748395e-05],"end_effector_yaw_offset_degrees":0.19372325867259166},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016906566731441034,-0.0008993863825492512,0.0012814935044815406],"end_effector_yaw_offset_degrees":-0.232222103632016}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0040499659942571835,0.0027110673323855437],"position_m":[0.28294996599425715,-0.11498893266761445,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004418504992358195,-0.0019094250152347603],"position_m":[0.2309185049923582,-0.4111094250152348,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0019412494155569382,0.0033906105084693444],"position_m":[0.35065875058444307,0.06939061050846934,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.000605929324139799,-0.0014704891367623872],"position_m":[0.34159407067586023,0.3224295108632376,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"20c346013cbd3b16167a21031bfdea442efb7798628e7002cf35dcae153da36c","episode_index":77,"episode_name":"episode_0077"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0077.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_2305/tex_ceiling_textures_7614/tex_floor_textures_8190/tex_table_textures_3683/tex_wall_textures_8497","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":256943981314615404,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":256943981314615404,"visual_seed":256943981314615404,"scene_id":"lab_003","finished_at":"2026-09-04T03:07:44"} +{"episode_id":"ep_000078","started_at":"2026-09-04T03:07:48","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_0","position":[0.09340504204215605,-2.453221863204572,0.71338606911949],"aabb_xy":[[0.029405039992424054,-2.49331634629388],[0.15740504409188805,-2.413127380115264]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_1","position":[0.5768165078768479,1.335891147666525,0.71338606911949],"aabb_xy":[[0.5659649016279723,1.325031856938874],[0.5876681141257235,1.346750438394176]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_2","position":[-0.38934736315936924,0.6109752220375855,0.71338606911949],"aabb_xy":[[-0.40249860913065866,0.5859752222808989],[-0.37619611718807994,0.635975221794272]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_3","position":[-0.6135185250830181,1.2517194502367612,0.71338606911949],"aabb_xy":[[-0.6194850640237538,1.2457583055773969],[-0.6075519861422821,1.2576805948961252]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_4","position":[0.5700133019009823,1.0780595058621123,0.71338606911949],"aabb_xy":[[0.5388663830573992,1.0080595071753051],[0.6011602207445654,1.1480595045489195]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_5","position":[0.06672991311997145,-1.7392693691230718,0.71338606911949],"aabb_xy":[[0.043448070921840116,-1.8242693704202997],[0.09001175531810279,-1.6542693678258436]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_6","position":[0.1286855645634879,1.213243461972442,0.71338606911949],"aabb_xy":[[0.1237295443786067,1.1907434617703205],[0.1336415847483691,1.2357434621745638]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_7","position":[0.4114108480997125,-1.0267915571916175,0.71338606911949],"aabb_xy":[[0.3981799025650311,-1.0400189762136167],[0.4246417936343937,-1.0135641381696179]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_8","position":[0.5443030586414637,-2.0547829732129297,0.71338606911949],"aabb_xy":[[0.5273923262051218,-2.0682551788055443],[0.5612137910778053,-2.041310767620315]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_9","position":[0.5402109993316095,0.771387647488543,0.71338606911949],"aabb_xy":[[0.5226643044154905,0.7338876459242918],[0.5577576942477284,0.8088876490527943]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_10","position":[0.6754502504501139,-0.9821399328415028,0.71338606911949],"aabb_xy":[[0.6565658666816037,-1.0010258576218556],[0.6943346342186241,-0.96325400806115]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_11","position":[-0.4555675817713039,-1.4794042637826368,0.71338606911949],"aabb_xy":[[-0.47306751520528734,-1.4969042637028713],[-0.4380676483373206,-1.4619042638624022]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_12","position":[-0.1674371533701764,-2.2078885555933057,0.71338606911949],"aabb_xy":[[-0.2174371520160976,-2.2578080992527676],[-0.1174371547242552,-2.157969011933843]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_13","position":[0.21128669704066627,1.2814239337503954,0.71338606911949],"aabb_xy":[[0.17378669709689984,1.273130843715559],[0.24878669698443265,1.2897170237852322]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_14","position":[-0.1926877601934629,-0.577767455050473,0.71338606911949],"aabb_xy":[[-0.24268776185495763,-0.6277658973061756],[-0.1426877585319681,-0.5277690127947702]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_15","position":[0.6158379567610155,-1.5921809897929426,0.71338606911949],"aabb_xy":[[0.6117021004283153,-1.6296809892372999],[0.6199738130937157,-1.5546809903485859]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_16","position":[0.27217368046216484,-1.8049762475271673,0.71338606911949],"aabb_xy":[[0.22269325924820604,-1.8689762454400192],[0.3216541016761236,-1.7409762496143155]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_17","position":[-0.6021750754124902,1.715648624229741,0.71338606911949],"aabb_xy":[[-0.6671750780502836,1.664169025530294],[-0.5371750727746967,1.767128222929188]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_18","position":[0.034813443247145415,1.4837970108725105,0.71338606911949],"aabb_xy":[[0.0002223603931001891,1.4187970105874794],[0.0694045261011906,1.5487970111575415]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_19","position":[-0.27808080167176735,-0.26019751728199214,0.71338606911949],"aabb_xy":[[-0.3155808028565601,-0.26461573997805254],[-0.24058080048697453,-0.2557792945859315]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_20","position":[-0.3434308866555809,0.06915215939274111,0.71338606911949],"aabb_xy":[[-0.3679771022783316,0.03890326284370405],[-0.31888467103283014,0.09940105594177817]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_21","position":[-0.47619540638928615,1.0415570604166748,0.71338606911949],"aabb_xy":[[-0.5461954079915656,1.0281242672150175],[-0.4061954047870066,1.0549898536183326]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_22","position":[-0.12921015842822725,0.013545132045001296,0.71338606911949],"aabb_xy":[[-0.19421015953417053,-0.011420241023126998],[-0.06421015732228397,0.03851050511312959]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_23","position":[0.5798156394537162,-0.49819647984839266,0.71338606911949],"aabb_xy":[[0.5298156398773816,-0.5481770588004987],[0.629815639030051,-0.4482159008962868]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_24","position":[0.21144369213467884,-1.6055086150065438,0.71338606911949],"aabb_xy":[[0.2061061164686743,-1.6305086159356839],[0.21678126780068344,-1.5805086140774043]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_25","position":[-0.6089794476040246,0.037977084520230076,0.71338606911949],"aabb_xy":[[-0.6589527416072849,-0.012022916034317273],[-0.559006153600764,0.08797708507477742]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_26","position":[0.6435631043151044,0.14544504024919025,0.71338606911949],"aabb_xy":[[0.6210631038030637,0.12295318188379187],[0.6660631048271449,0.16793689861458858]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_27","position":[0.23851082262139622,-1.063141518460375,0.71338606911949],"aabb_xy":[[0.1585108204586337,-1.1430967020865186],[0.3185108247841587,-0.9831863348342313]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_28","position":[-0.11471093079694183,-1.2615758042667922,0.71338606911949],"aabb_xy":[[-0.11955452555817181,-1.2664274567457763],[-0.10986733603571186,-1.256724151787808]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_29","position":[0.20748605993850555,-0.7445756101972985,0.71338606911949],"aabb_xy":[[0.18559631234956475,-0.8345756074865476],[0.22937580752744635,-0.6545756129080493]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_30","position":[-0.5352262993133695,0.6441363095305261,0.71338606911949],"aabb_xy":[[-0.5902262975151142,0.6036143429040886],[-0.4802263011116246,0.6846582761569637]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_31","position":[-0.5939862977471934,-0.3044764793718997,0.71338606911949],"aabb_xy":[[-0.6117798046821098,-0.32227622496769737],[-0.5761927908122769,-0.28667673377610203]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_32","position":[-0.4903686568095539,0.49452106442385135,0.71338606911949],"aabb_xy":[[-0.5050120623635868,0.479862344767067],[-0.47572525125552084,0.5091797840806356]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_33","position":[-0.24491055592632466,-0.7514960297896442,0.71338606911949],"aabb_xy":[[-0.2799105541964446,-0.7585701574846323],[-0.20991055765620478,-0.744421902094656]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6974064315841422,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8129.png","name":"8129"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8129.png","name":"8129"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5185.png","name":"5185"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9434.png","name":"9434"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/143.png","name":"143"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8175.png","name":"8175"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":535.9356926346683,"rotation_z_degrees":51.60165298432753,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006821476062970198,0.005776952685849494,-0.0067716843879465]},{"name":"camera_2","offset_m":[0.001554530720781027,-0.00897105754037292,0.013083357701083109]},{"name":"camera_3","offset_m":[0.0053824900528028595,-0.013290711701688142,0.008930234030279753]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012457238508182555,-0.001190028699676538,0.0011590187242262423],"end_effector_yaw_offset_degrees":-0.42742059273240796},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006275325786020396,0.0001726233784177314,-0.0019225506124819548],"end_effector_yaw_offset_degrees":-0.855338600659918},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016347864208404433,0.00021546532011847445,0.001120788206666978],"end_effector_yaw_offset_degrees":0.36310345213027784}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0017906225174270816,-0.003106090483759083],"position_m":[0.28069062251742705,-0.12080609048375908,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0024265694751589616,-0.0005661972982993046],"position_m":[0.22892656947515896,-0.40976619729829933,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0002307942992665372,0.0012862859093826272],"position_m":[0.3523692057007335,0.06728628590938263,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004392836746285616,0.0019665236833143872],"position_m":[0.3465928367462856,0.3258665236833144,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"699ea2f4b3ddb7178cb5a6eb4e38968cf09785f17f743c7931a2144fd462e54a","episode_index":78,"episode_name":"episode_0078"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0078.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_8129/tex_ceiling_textures_8175/tex_floor_textures_143/tex_table_textures_5185/tex_wall_textures_9434","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":7753502446884174126,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":7753502446884174126,"visual_seed":7753502446884174126,"scene_id":"lab_003","finished_at":"2026-09-04T03:10:38"} +{"episode_id":"ep_000079","started_at":"2026-09-04T03:10:41","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_0","position":[0.5166644388385411,0.7685816557436147,0.71338606911949],"aabb_xy":[[0.4466644424285791,0.7481437200919326],[0.5866644352485026,0.7890195913952961]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_1","position":[-0.4559082623155749,0.2720562009645855,0.71338606911949],"aabb_xy":[[-0.478404683749439,0.249556201157838],[-0.4334118408817108,0.2945562007713329]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_2","position":[0.4703981688486054,0.4709098797721949,0.71338606911949],"aabb_xy":[[0.4204031578891535,0.4209098807366033],[0.5203931798080575,0.5209098788077867]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_3","position":[-0.44740987310303115,-2.1466491124984,0.71338606911949],"aabb_xy":[[-0.46990987291693354,-2.1511237288688805],[-0.42490987328912877,-2.1421744961279194]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_4","position":[0.19284910353110785,1.6583158487441012,0.71338606911949],"aabb_xy":[[0.11284910026709472,1.6447558164351876],[0.272849106795121,1.6718758810530143]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_5","position":[-0.10164455725060839,-0.03434958494896323,0.71338606911949],"aabb_xy":[[-0.15664455545235323,-0.07487155157540082],[-0.04664455904886356,0.006172381677474351]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_6","position":[0.5783408258475136,-1.0085626673147643,0.71338606911949],"aabb_xy":[[0.5657381267104372,-1.0211580635396298],[0.5909435249845901,-0.9959672710898988]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_7","position":[-0.6059705137968312,1.069686670406377,0.71338606911949],"aabb_xy":[[-0.614006848498116,1.0616485511019602],[-0.5979341790955464,1.0777247897107938]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_8","position":[0.037345079537765224,-1.0979229390727165,0.71338606911949],"aabb_xy":[[0.033229129425692554,-1.1020384941055619],[0.04146102964983788,-1.0938073840398708]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_9","position":[0.13862868452970056,-0.7319630810838553,0.71338606911949],"aabb_xy":[[0.12256675707118293,-0.816963082896447],[0.1546906119882182,-0.6469630792712634]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_10","position":[-0.3102842800951072,-0.8268999959556969,0.71338606911949],"aabb_xy":[[-0.32461870522127073,-0.8389602115102357],[-0.2959498549689438,-0.814839780401158]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_11","position":[0.16275768072795993,0.7302605923131824,0.71338606911949],"aabb_xy":[[0.12421198790275889,0.6917148212569938],[0.20130337355316097,0.768806363369371]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_12","position":[0.5544528504124324,1.5929806069592147,0.71338606911949],"aabb_xy":[[0.4993276447828416,1.5329806055179274],[0.6095780560420231,1.6529806084005016]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_13","position":[0.2219653956412595,-1.1439890585154093,0.71338606911949],"aabb_xy":[[0.1719722835320676,-1.1939890591896052],[0.2719585077504514,-1.093989057841214]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_14","position":[-0.35481092066111597,-1.7033396024842293,0.71338606911949],"aabb_xy":[[-0.36273420089986436,-1.7258396027222325],[-0.3468876404223677,-1.6808396022462258]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_15","position":[0.5830544088571474,-0.8974580415902103,0.71338606911949],"aabb_xy":[[0.5190544081536781,-0.9434764240631313],[0.6470544095606168,-0.8514396591172892]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_16","position":[0.18911429492895004,1.2622757262991224,0.71338606911949],"aabb_xy":[[0.18567361868889287,1.2584142933247582],[0.19255497116900724,1.2661371592734871]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_17","position":[-0.38022440604986696,-1.2928803151995087,0.71338606911949],"aabb_xy":[[-0.39809351380432245,-1.3067132231767193],[-0.36235529829541147,-1.2790474072222977]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_18","position":[0.4972831963422373,-0.5572013620458782,0.71338606911949],"aabb_xy":[[0.44228771852157783,-0.6122013634797852],[0.5522786741628967,-0.5022013606119713]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_19","position":[-0.5832870125571136,-1.4501979516224568,0.71338606911949],"aabb_xy":[[-0.6332870138409534,-1.500176806013079],[-0.5332870112732735,-1.4002190972318347]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_20","position":[-0.6760436333012924,-0.9129820256089425,0.71338606911949],"aabb_xy":[[-0.6919281265666175,-0.9273349659077665],[-0.6601591400359672,-0.8986290853101184]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_21","position":[-0.46310031571588767,1.464546178181203,0.71338606911949],"aabb_xy":[[-0.5131003152922224,1.414565599229097],[-0.413100316139553,1.514526757133309]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_22","position":[-0.6207270026138939,-0.7785206149562105,0.71338606911949],"aabb_xy":[[-0.6707044194791474,-0.8285206164454589],[-0.5707495857486402,-0.7285206134669618]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_23","position":[-0.5496514488554405,0.13110584064798259,0.71338606911949],"aabb_xy":[[-0.5846514502069222,0.11074610469116174],[-0.5146514475039587,0.1514655766048034]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6928381799438846,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7986.png","name":"7986"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7986.png","name":"7986"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7671.png","name":"7671"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9951.png","name":"9951"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7132.png","name":"7132"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8295.png","name":"8295"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":511.6053741200231,"rotation_z_degrees":138.5799491226956,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012031454561808057,-0.014841088175876562,-0.014927711484404242]},{"name":"camera_2","offset_m":[0.01165251774564963,0.01813261670730319,-0.005905315615914538]},{"name":"camera_3","offset_m":[0.013051964885779258,0.0025087375929116022,0.005416193439295648]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004256798931029735,-0.00013190492129930352,-0.001393241381122084],"end_effector_yaw_offset_degrees":0.07074690409679518},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009643689816483136,0.0012436723427458585,0.0005859412561828778],"end_effector_yaw_offset_degrees":0.5130888980485007},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00018828241949216768,0.0006992295501003923,-0.0013929304139236836],"end_effector_yaw_offset_degrees":-0.5655878488667376}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00459695768482381,0.0036058298834384774],"position_m":[0.27430304231517616,-0.11409417011656152,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0033221393020330557,-0.002984295289042296],"position_m":[0.22317786069796694,-0.4121842952890423,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0023471723728386374,5.7089231713025254e-05],"position_m":[0.3549471723728387,0.06605708923171302,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0021267301619985477,-0.0035448860804623552],"position_m":[0.34432673016199855,0.3203551139195377,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"805f284eab0d8d81dbd1e7f549de5a977c4399f302de3516ccd035f1a3e59158","episode_index":79,"episode_name":"episode_0079"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0079.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_7986/tex_ceiling_textures_8295/tex_floor_textures_7132/tex_table_textures_7671/tex_wall_textures_9951","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":6229143835323929584,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":6229143835323929584,"visual_seed":6229143835323929584,"scene_id":"lab_003","finished_at":"2026-09-04T03:13:25"} +{"episode_id":"ep_000080","started_at":"2026-09-04T03:13:28","dimensions":{"distractor":{"count":29,"items":[{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_0","position":[-0.5239104429085193,1.792953970280593,0.71338606911949],"aabb_xy":[[-0.5576860020992123,1.7789154750674279],[-0.4901348837178263,1.8069924654937577]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_1","position":[0.37060567199170524,0.7838837576244542,0.71338606911949],"aabb_xy":[[0.3554427990147682,0.7687183003293356],[0.38576854496864244,0.7990492149195731]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_2","position":[-0.5558915149509723,0.5210180624888929,0.71338606911949],"aabb_xy":[[-0.5734698171399192,0.503443572914788],[-0.5383132127620255,0.5385925520629978]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_3","position":[-0.504858557581766,1.1963834548048649,0.71338606911949],"aabb_xy":[[-0.5548578327502023,1.1463834535289177],[-0.45485928241332996,1.246383456080812]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_4","position":[-0.5801924550630232,-0.5317104902697687,0.71338606911949],"aabb_xy":[[-0.591437510633641,-0.542952287993864],[-0.5689473994924054,-0.5204686925456734]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_5","position":[-0.598317627320544,0.18823540227565516,0.71338606911949],"aabb_xy":[[-0.6433176287867729,0.1432355454141745],[-0.5533176258543152,0.23323525913713586]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_6","position":[0.1342412581229373,-0.7526097051472573,0.71338606911949],"aabb_xy":[[0.09299244709302255,-0.8076097046594747],[0.175490069152852,-0.6976097056350398]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_7","position":[0.3076559581445897,-1.2745907749519623,0.71338606911949],"aabb_xy":[[0.2176559616437179,-1.3205024173704203],[0.3976559546454614,-1.2286791325335038]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_8","position":[-0.5765254064018377,-1.9939536071061388,0.71338606911949],"aabb_xy":[[-0.6565254033648769,-2.0710292487499125],[-0.4965254094387985,-1.9168779654623653]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_9","position":[0.421777922898916,1.2359570589525837,0.71338606911949],"aabb_xy":[[0.4137415881976311,1.2279189396481667],[0.4298142576002008,1.2439951782570002]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_10","position":[-0.2555852283218527,-1.5707919228934684,0.71338606911949],"aabb_xy":[[-0.34558523199877084,-1.6322243294705723],[-0.1655852246449345,-1.5093595163163636]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_11","position":[-0.015210034547589513,1.3775197475755712,0.71338606911949],"aabb_xy":[[-0.0211765734883253,1.371558602916207],[-0.009243495606853723,1.3834808922349353]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_12","position":[-0.4166391517196898,-0.8896611676900283,0.71338606911949],"aabb_xy":[[-0.43881167869634063,-0.9118368348461514],[-0.39446662474303895,-0.867485500533905]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_13","position":[0.30776289096612675,-0.7696129707559081,0.71338606911949],"aabb_xy":[[0.30072144001537915,-0.7766397224937027],[0.31480434191687434,-0.7625862190181136]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_14","position":[-0.09016832314126455,-1.3299739199175444,0.71338606911949],"aabb_xy":[[-0.1201358800510902,-1.3599739202154302],[-0.06020076623143887,-1.2999739196196587]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_15","position":[0.5334085438086846,-0.1684626242567595,0.71338606911949],"aabb_xy":[[0.5229969851282008,-0.17380835759265795],[0.5438201024891682,-0.163116890920861]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_16","position":[0.010813667129435656,1.7751263587411503,0.71338606911949],"aabb_xy":[[-0.05918632928052613,1.7546884230894682],[0.08081366353939744,1.7955642943928316]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_17","position":[-0.37828477240194075,-0.5104022836413038,0.71338606911949],"aabb_xy":[[-0.41391392830190044,-0.5460349503981567],[-0.34265561650198095,-0.47476961688445085]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_18","position":[-0.427423216994401,-0.019185472939212023,0.71338606911949],"aabb_xy":[[-0.44653552435237986,-0.03832025181645404],[-0.40831090963642214,-5.069406197000248e-05]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_19","position":[0.6224731554750422,0.49594926124209193,0.71338606911949],"aabb_xy":[[0.5811686124113061,0.43194926167397474],[0.6637776985387781,0.5599492608102089]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_20","position":[0.47867577649117,-0.37387075177754614,0.71338606911949],"aabb_xy":[[0.47236367695483156,-0.37963769103076495],[0.4849878760275084,-0.36810381252432733]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_21","position":[0.0320162593954576,-1.4534933560628522,0.71338606911949],"aabb_xy":[[0.004171222614850478,-1.484277854801164],[0.05986129617606473,-1.4227088573245406]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_22","position":[-0.4564643253130388,1.4885487076219648,0.71338606911949],"aabb_xy":[[-0.5364643257832548,1.4802380000076167],[-0.3764643248428229,1.4968594152363133]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_23","position":[0.2989773716206451,0.9987277183646692,0.71338606911949],"aabb_xy":[[0.24397737341890022,0.9582057517382315],[0.35397736982238986,1.0392496849911066]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_24","position":[0.3180284971718914,-0.6386485787940432,0.71338606911949],"aabb_xy":[[0.22802850043628115,-0.6918320421113378],[0.40802849390750157,-0.5854651154767487]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_25","position":[-0.0771875881774905,1.0338109407209322,0.71338606911949],"aabb_xy":[[-0.11995429505691067,0.9698109372991299],[-0.03442088129807029,1.0978109441427348]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_26","position":[0.6578037417865976,-1.5538443607913182,0.71338606911949],"aabb_xy":[[0.6328037425146353,-1.5701897243874803],[0.6828037410585599,-1.5374989971951556]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_27","position":[-0.026907635605645575,-2.1232090957736,0.71338606911949],"aabb_xy":[[-0.10690763261989356,-2.1433436474470113],[0.05309236140860241,-2.1030745441001883]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_28","position":[-0.49168650293830907,-1.528560097544981,0.71338606911949],"aabb_xy":[[-0.4990989584796976,-1.5344113079666086],[-0.48427404739692065,-1.5227088871233527]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6953094256899429,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3265.png","name":"3265"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3265.png","name":"3265"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4296.png","name":"4296"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5493.png","name":"5493"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1604.png","name":"1604"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6321.png","name":"6321"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":596.7598961643575,"rotation_z_degrees":282.5527968237887,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0020470009091212334,-0.011697194377953735,0.015647435381784713]},{"name":"camera_2","offset_m":[0.017288402851416664,0.007640763618110058,-0.015150024615284861]},{"name":"camera_3","offset_m":[0.017138049529864554,-0.011977786321145496,0.003222041598438089]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00037944996479597447,-0.0019246354108558902,-0.0014905368628708993],"end_effector_yaw_offset_degrees":-0.3021682660856482},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009032855162686437,0.0006791516280730886,0.0019331350008052707],"end_effector_yaw_offset_degrees":-0.102407632337993},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005482524201726405,0.001240692527310407,-0.0004912794416874976],"end_effector_yaw_offset_degrees":-0.04133181178967926}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003090037746099736,0.000265489678835178],"position_m":[0.27580996225390025,-0.11743451032116482,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004824559464200329,0.0015685267671922132],"position_m":[0.23132455946420033,-0.4076314732328078,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0039007408396046317,0.0018492838335261606],"position_m":[0.3486992591603954,0.06784928383352616,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0009451984494154063,0.003984354483461862],"position_m":[0.34314519844941543,0.32788435448346187,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"54bbaff5c18a4e3a729420a98f041b13776131137049e3dce1aa1a2281ebccaa","episode_index":80,"episode_name":"episode_0080"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0080.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_3265/tex_ceiling_textures_6321/tex_floor_textures_1604/tex_table_textures_4296/tex_wall_textures_5493","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":5176974679783818247,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":5176974679783818247,"visual_seed":5176974679783818247,"scene_id":"lab_003","finished_at":"2026-09-04T03:16:17"} +{"episode_id":"ep_000081","started_at":"2026-09-04T03:16:20","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_0","position":[0.5451141350151458,-1.559373282819174,0.71338606911949],"aabb_xy":[[0.46511413805210655,-1.636448924462947],[0.6251141319781849,-1.4822976411754]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_1","position":[-0.062165973818116504,1.3776856056623736,0.71338606911949],"aabb_xy":[[-0.12216597432596943,1.3208388719764523],[-0.002165973310263587,1.434532339348295]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_2","position":[-0.4551724330351731,-0.5462832991255699,0.71338606911949],"aabb_xy":[[-0.5351724316224924,-0.6255989010637307],[-0.3751724344478536,-0.466967697187409]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_3","position":[0.34164151934945175,-0.9618241602895805,0.71338606911949],"aabb_xy":[[0.2816415184886389,-1.0132505902960665],[0.4016415202102645,-0.9103977302830939]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_4","position":[0.43611843546650664,1.670818542702285,0.71338606911949],"aabb_xy":[[0.35611843220866374,1.5908220349103008],[0.5161184387243496,1.7508150504942688]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_5","position":[0.34778587040207887,-2.041834095101204,0.71338606911949],"aabb_xy":[[0.33965818220876576,-2.050747703511912],[0.3559135585953922,-2.0329204866904966]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_6","position":[-0.24834353134575904,1.2942775318990436,0.71338606911949],"aabb_xy":[[-0.25769053892805427,1.2799739096813996],[-0.23899652376346384,1.3085811541166876]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_7","position":[-0.46756140536659896,-0.1789411859276102,0.71338606911949],"aabb_xy":[[-0.4857672290278467,-0.18996658650960188],[-0.44935558170535134,-0.1679157853456186]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_8","position":[0.44570139354328897,-0.6779692933921078,0.71338606911949],"aabb_xy":[[0.4178563567626819,-0.7087537921304193],[0.47354643032389615,-0.647184794653796]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_9","position":[-0.041179946023792824,1.144184748850848,0.71338606911949],"aabb_xy":[[-0.07867994631596764,1.1401432734502446],[-0.003679945731618006,1.1482262242514516]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_10","position":[-0.05654161011982195,0.7535436470287729,0.71338606911949],"aabb_xy":[[-0.09303743074710069,0.7170597046020153],[-0.02004578949254321,0.7900275894555304]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_11","position":[-0.14238407187100788,-1.103040605149786,0.71338606911949],"aabb_xy":[[-0.1473400920558891,-1.125540605351908],[-0.1374280516861267,-1.0805406049476647]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_12","position":[0.5968086069899696,-0.5657688487247801,0.71338606911949],"aabb_xy":[[0.5895648409437243,-0.6457688469283824],[0.604052373036215,-0.4857688505211777]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_13","position":[0.4393455998097653,0.8968495420210747,0.71338606911949],"aabb_xy":[[0.375345599106296,0.8508311595481537],[0.5033456005132346,0.9428679244939957]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_14","position":[0.484663475135811,-0.20862032984120127,0.71338606911949],"aabb_xy":[[0.47856884724769266,-0.21718972439287],[0.4907581030239293,-0.20005093528953255]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_15","position":[0.06978285643586912,-1.115511286712977,0.71338606911949],"aabb_xy":[[0.004782856401566393,-1.1622119633933043],[0.13478285647017185,-1.0688106100326498]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_16","position":[0.27534467035963706,0.511565999095517,0.71338606911949],"aabb_xy":[[0.2583345730695864,0.4954315105972431],[0.2923547676496877,0.527700487593791]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_17","position":[-0.19409979153823897,1.0764491529730704,0.71338606911949],"aabb_xy":[[-0.21600847367759002,1.0545484861529795],[-0.17219110939888793,1.098349819793161]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_18","position":[0.3195101933092239,-1.5363070039056086,0.71338606911949],"aabb_xy":[[0.30690749417214747,-1.548902400130474],[0.3321128924463004,-1.523711607680743]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_19","position":[-0.17095918419792133,-2.470019420903411,0.71338606911949],"aabb_xy":[[-0.22095918548176124,-2.5199982752940326],[-0.12095918291408132,-2.4200405665127884]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_20","position":[-0.6766956070023622,-2.291213141948111,0.71338606911949],"aabb_xy":[[-0.6843987976764392,-2.2989225126468487],[-0.6689924163282852,-2.2835037712493724]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_21","position":[-0.22777763964427172,-1.6313293318334936,0.71338606911949],"aabb_xy":[[-0.24527763892235857,-1.6486674318998396],[-0.21027764036618482,-1.6139912317671476]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_22","position":[0.4867604385208284,-1.2423727247605396,0.71338606911949],"aabb_xy":[[0.47482770415900033,-1.254754877568399],[0.49869317288265647,-1.2299905719526802]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_23","position":[-0.4306129815416316,0.017453101123578563,0.71338606911949],"aabb_xy":[[-0.5206129809600024,-0.015922395720611163],[-0.3406129821232607,0.050828597967768285]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_24","position":[0.32795590288658594,-0.6623106318206802,0.71338606911949],"aabb_xy":[[0.2867070918566712,-0.7173106313328975],[0.36920471391650067,-0.6073106323084626]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_25","position":[-0.06553860870308492,-1.783384826650182,0.71338606911949],"aabb_xy":[[-0.10053860789590317,-1.7943518726478445],[-0.030538609510266643,-1.7724177806525194]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_26","position":[-0.5694699872105146,-2.36975520700319,0.71338606911949],"aabb_xy":[[-0.6245951928401051,-2.4297552084444773],[-0.5143447815809236,-2.309755205561903]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_27","position":[-0.23268133772534844,-1.7846101495377151,0.71338606911949],"aabb_xy":[[-0.24935847371844394,-1.8013100735116454],[-0.21600420173225293,-1.7679102255637849]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_28","position":[-0.6445047183178277,0.9526490157981864,0.71338606911949],"aabb_xy":[[-0.6596070197788457,0.9375474941671242],[-0.6294024168568095,0.9677505374292479]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_29","position":[0.5931066225707795,-2.127753609319899,0.71338606911949],"aabb_xy":[[0.5775508531605144,-2.143304042564307],[0.6086623919810449,-2.1122031760754925]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_30","position":[0.5531303449646778,0.30964781180707934,0.71338606911949],"aabb_xy":[[0.4831303431559324,0.288294043042892],[0.6231303467734233,0.3310015805712668]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_31","position":[-0.20470962263270925,0.8299186539589058,0.71338606911949],"aabb_xy":[[-0.23335895499312545,0.80127309468183],[-0.176060290272293,0.8585642132359815]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6905208124088127,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5693.png","name":"5693"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5693.png","name":"5693"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6280.png","name":"6280"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7954.png","name":"7954"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7974.png","name":"7974"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6280.png","name":"6280"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":815.8068263927555,"rotation_z_degrees":117.04642374890398,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008806130808593894,0.0026264019464768487,-0.00205074879231084]},{"name":"camera_2","offset_m":[0.0186696539835034,-0.004359679872755144,0.011785196742364463]},{"name":"camera_3","offset_m":[0.019702542214555006,0.0035885145308563425,0.007206393718449486]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007806831549797728,-0.0003296523007220609,-0.0018768762143074973],"end_effector_yaw_offset_degrees":-0.5185515195140717},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014435246286090735,-0.0014673856359298638,0.0015890610052892553],"end_effector_yaw_offset_degrees":0.6888049211484022},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0019027701115582546,-0.0012103419019441198,-0.0004388165204210904],"end_effector_yaw_offset_degrees":-0.40117664955885335}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001832488768289895,-0.0003573536364445771],"position_m":[0.2770675112317101,-0.11805735363644458,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003994015583826648,0.0022844457168634865],"position_m":[0.23049401558382665,-0.4069155542831365,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0002358930011128876,0.003738024802825855],"position_m":[0.3528358930011129,0.06973802480282586,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0002522851664581872,-0.004962423627585686],"position_m":[0.3424522851664582,0.3189375763724143,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d34685dc1e641fe7e776fb88859d7f45e96556cab486c2ac4e4b49110e915d16","episode_index":81,"episode_name":"episode_0081"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0081.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_5693/tex_ceiling_textures_6280/tex_floor_textures_7974/tex_table_textures_6280/tex_wall_textures_7954","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":5483860191436670439,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":5483860191436670439,"visual_seed":5483860191436670439,"scene_id":"lab_003","finished_at":"2026-09-04T03:19:06"} +{"episode_id":"ep_000082","started_at":"2026-09-04T03:19:10","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_0","position":[-0.0778121027306975,0.19456284784221678,0.71338606911949],"aabb_xy":[[-0.08697198167457408,0.18803162979867974],[-0.06865222378682088,0.20109406588575376]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_1","position":[0.06054935409587836,1.337725698980913,0.71338606911949],"aabb_xy":[[0.05458281515514258,1.3317645543215486],[0.06651589303661415,1.343686843640277]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_2","position":[-0.6355880562511372,0.26556233804512663,0.71338606911949],"aabb_xy":[[-0.685068477465096,0.20156234013227475],[-0.5861076350371784,0.3295623359579784]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_3","position":[-0.17613594206630334,1.605397531125376,0.71338606911949],"aabb_xy":[[-0.19602698194664364,1.5927417198406795],[-0.15624490218596312,1.6180533424100731]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_4","position":[-0.24018410828773995,-1.2184353089601005,0.71338606911949],"aabb_xy":[[-0.3298711845958554,-1.308435309214551],[-0.1504970319796245,-1.12843530870565]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_5","position":[-0.4940413369841373,1.5060894861052891,0.71338606911949],"aabb_xy":[[-0.5066440361212137,1.4934940898804236],[-0.4814386378470608,1.5186848823301546]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_6","position":[0.08197601520409037,-2.4071431260760616,0.71338606911949],"aabb_xy":[[0.07156445652360663,-2.4124888594119596],[0.09238757388457405,-2.401797392740163]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_7","position":[0.0376380685885237,-2.2585742049087103,0.71338606911949],"aabb_xy":[[0.025705334226695624,-2.2709563577165697],[0.04957080295035176,-2.246192052100851]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_8","position":[-0.5184873803643313,-0.537345757963771,0.71338606911949],"aabb_xy":[[-0.5293389866132068,-0.5482050486914221],[-0.5076357741154556,-0.52648646723612]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_9","position":[0.5470065151277435,1.643217109099378,0.71338606911949],"aabb_xy":[[0.523724672929612,1.5582171078021496],[0.5702883573258747,1.7282171103966057]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_10","position":[-0.3679543864240182,1.4380363119936663,0.71338606911949],"aabb_xy":[[-0.37279798118524815,1.4331846595146822],[-0.3631107916627882,1.4428879644726504]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_11","position":[0.4855172442113511,-1.3538030458270824,0.71338606911949],"aabb_xy":[[0.47118281908518767,-1.3658632613816215],[0.49985166933751457,-1.3417428302725438]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_12","position":[-0.44897464948890503,0.8407609761862211,0.71338606911949],"aabb_xy":[[-0.4989575996763843,0.7907609765436607],[-0.39899169930142564,0.8907609758287816]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_13","position":[-0.029356239214451074,-1.2807347360695924,0.71338606911949],"aabb_xy":[[-0.04092521996138765,-1.3057347361865241],[-0.017787258467514503,-1.2557347359526607]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_14","position":[-0.5751834205097074,0.8192351258514323,0.71338606911949],"aabb_xy":[[-0.600404257369547,0.7940113749985455],[-0.5499625836498676,0.844458876704319]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_15","position":[-0.653118338917637,1.4145313509666972,0.71338606911949],"aabb_xy":[[-0.6881183380475927,1.4087861298910331],[-0.6181183397876814,1.4202765720423614]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_16","position":[-0.33308871293436626,1.190180605660922,0.71338606911949],"aabb_xy":[[-0.3634868240335098,1.1597737036592526],[-0.3026906018352226,1.2205875076625916]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_17","position":[0.35126053500316545,-0.8885179101762397,0.71338606911949],"aabb_xy":[[0.31392925847792286,-0.9231709649710921],[0.38859181152840805,-0.8538648553813876]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_18","position":[-0.17920548648286216,0.3635388880790962,0.71338606911949],"aabb_xy":[[-0.25920548344590133,0.28646324643532267],[-0.09920548951982297,0.4406145297228696]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_19","position":[-0.5523570623942994,-1.2638791486333165,0.71338606911949],"aabb_xy":[[-0.5898570631862948,-1.2702469895915065],[-0.5148570616023039,-1.257511307675126]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_20","position":[0.45948217477400055,-2.4930194584955534,0.71338606911949],"aabb_xy":[[0.4394237631607603,-2.513084545404711],[0.4795405863872409,-2.472954371586396]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_21","position":[0.14846541861059137,1.125153656810879,0.71338606911949],"aabb_xy":[[0.09836795462951775,1.0611536563010673],[0.198562882591665,1.189153657320691]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_22","position":[0.2864544401222946,-1.9309415758741895,0.71338606911949],"aabb_xy":[[0.24942033069423483,-1.9653187832078987],[0.3234885495503543,-1.8965643685404798]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_23","position":[0.3694689914633458,1.0576497962800668,0.71338606911949],"aabb_xy":[[0.36176580078926873,1.0499404255813287],[0.3771721821374228,1.065359166978805]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_24","position":[0.08023715058448733,-1.1160837401755364,0.71338606911949],"aabb_xy":[[-0.004762847832935901,-1.2009580356378216],[0.16523714900191055,-1.0312094447132516]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6962432803393693,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1124.png","name":"1124"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1124.png","name":"1124"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6044.png","name":"6044"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9495.png","name":"9495"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2928.png","name":"2928"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5757.png","name":"5757"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":799.545881486644,"rotation_z_degrees":15.202822396671912,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0006331412465188785,-0.0034726885208116592,-0.014283570017966176]},{"name":"camera_2","offset_m":[-0.01009589172026999,-0.00678393887561112,-0.008269541713295605]},{"name":"camera_3","offset_m":[-0.0036303398478208723,0.010030307507043871,0.009932530735917197]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00025549315115338655,-0.0014287371753378166,0.0003506868144911176],"end_effector_yaw_offset_degrees":0.03763337830380831},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001678220825544988,-0.001660444984439369,0.0009552790589695318],"end_effector_yaw_offset_degrees":-0.7998289032794823},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016334751687122706,0.000875831448042653,0.0006793259708086107],"end_effector_yaw_offset_degrees":-0.6398993384410656}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002757481574460172,0.003627600464727497],"position_m":[0.27614251842553983,-0.1140723995352725,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0015290672169246122,0.0033500749554580883],"position_m":[0.22802906721692462,-0.4058499250445419,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004667511600058073,0.002487914535219824],"position_m":[0.34793248839994195,0.06848791453521982,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0017360844407534924,0.004485712943852566],"position_m":[0.3439360844407535,0.3283857129438526,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"40343acf7d8b4e6b89f4158fee39f2af91ba138b0eff601ea025012991ea4136","episode_index":82,"episode_name":"episode_0082"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0082.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_1124/tex_ceiling_textures_5757/tex_floor_textures_2928/tex_table_textures_6044/tex_wall_textures_9495","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":6874657295055298337,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":6874657295055298337,"visual_seed":6874657295055298337,"scene_id":"lab_003","finished_at":"2026-09-04T03:22:11"} +{"episode_id":"ep_000083","started_at":"2026-09-04T03:22:14","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_0","position":[-0.011427769881228289,-0.8020323803785152,0.71338606911949],"aabb_xy":[[-0.05419447676064848,-0.8660323838003177],[0.0313389369981919,-0.7380323769567128]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_1","position":[0.5694720811710947,0.26210638569757494,0.71338606911949],"aabb_xy":[[0.5613584264977176,0.25400056924354586],[0.5775857358444718,0.270212202151604]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_2","position":[-0.2259633158713681,-0.2750991544563144,0.71338606911949],"aabb_xy":[[-0.23883521937230823,-0.35509915487015054],[-0.21309141237042795,-0.19509915404247827]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_3","position":[0.5644946441769951,-1.943050253588354,0.71338606911949],"aabb_xy":[[0.5518678568897987,-1.9525963272899267],[0.5771214314641914,-1.933504179886781]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_4","position":[0.4807033086348076,-0.30578916005452594,0.71338606911949],"aabb_xy":[[0.4730001179607305,-0.31349853075326395],[0.4884064993088846,-0.29807978935578794]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_5","position":[-0.3054469903793357,1.1896785054383971,0.71338606911949],"aabb_xy":[[-0.3267249985228079,1.1246785031123239],[-0.2841689822358634,1.25467850776447]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_6","position":[0.23970625096682685,-1.7887672013677798,0.71338606911949],"aabb_xy":[[0.18971124000737485,-1.838767200403372],[0.2897012619262789,-1.7387672023321885]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_7","position":[0.09171850233800782,-1.8611761737514314,0.71338606911949],"aabb_xy":[[0.056089346438048096,-1.8968088405082846],[0.12734765823796756,-1.8255435069945787]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_8","position":[-0.6536218520246421,0.16246815945885107,0.71338606911949],"aabb_xy":[[-0.6901176726519207,0.1259842170320935],[-0.6171260313973632,0.19895210188560863]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_9","position":[0.04950803991361352,1.5400282409271155,0.71338606911949],"aabb_xy":[[0.016067864717593913,1.5065846150961852],[0.08294821510963311,1.5734718667580454]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_10","position":[-0.18152887069047474,1.7730836450914436,0.71338606911949],"aabb_xy":[[-0.19413156982755117,1.7604882488665778],[-0.16892617155339826,1.7856790413163088]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_11","position":[0.6480949390078321,0.3624114575054582,0.71338606911949],"aabb_xy":[[0.5981216450045717,0.3124114569509109],[0.6980682330110926,0.41241145806000556]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_12","position":[-0.29906464480905914,-1.4934209913223346,0.71338606911949],"aabb_xy":[[-0.31416694627007713,-1.508522512953396],[-0.28396234334804094,-1.4783194696912725]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_13","position":[-0.1807123298637846,0.22356871356630892,0.71338606911949],"aabb_xy":[[-0.23071232850970577,0.1736491699068465],[-0.13071233121786338,0.2734882572257713]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_14","position":[0.5950827336662379,0.9726984592118573,0.71338606911949],"aabb_xy":[[0.5791982404009127,0.9583455189130332],[0.610967226931563,0.9870513995106813]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_15","position":[-0.11812442471094808,-1.0986560472489226,0.71338606911949],"aabb_xy":[[-0.1467737570713643,-1.1273016065259982],[-0.08947509235053185,-1.0700104879718466]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_16","position":[-0.6692521981720552,1.5245206330699328,0.71338606911949],"aabb_xy":[[-0.6861629306083968,1.5110484274773182],[-0.6523414657357133,1.5379928386625474]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_17","position":[-0.6384157620925457,-1.623943994566107,0.71338606911949],"aabb_xy":[[-0.6759157621981385,-1.6307661564190878],[-0.6009157619869526,-1.6171218327131256]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_18","position":[-0.004698413939354218,0.8461183482839116,0.71338606911949],"aabb_xy":[[-0.08469841252667364,0.7668027463457506],[0.0753015846479652,0.9254339502220724]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_19","position":[0.5820849364585949,-1.7718352890736158,0.71338606911949],"aabb_xy":[[0.5746724809172064,-1.7776864994952437],[0.5894973919999833,-1.7659840786519878]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_20","position":[-0.15913804998468095,-0.9876142801914696,0.71338606911949],"aabb_xy":[[-0.1966380501565529,-1.0203150155743768],[-0.12163804981280901,-0.9549135448085624]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_21","position":[-0.3748022406054803,0.47847190302273823,0.71338606911949],"aabb_xy":[[-0.380839253606145,0.47244520195379003],[-0.3687652276048155,0.48449860409168644]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_22","position":[-0.3604160505064523,-1.1549404970774024,0.71338606911949],"aabb_xy":[[-0.364494208413502,-1.1590214773256657],[-0.3563378925994025,-1.1508595168291391]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_23","position":[-0.6698040689904693,-2.2252571799001175,0.71338606911949],"aabb_xy":[[-0.6868141662805198,-2.241391668398391],[-0.6527939717004185,-2.209122691401843]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_24","position":[0.41344096124049234,-0.5986770894112354,0.71338606911949],"aabb_xy":[[0.3759409600556995,-0.6030953121072957],[0.4509409624252851,-0.5942588667151747]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_25","position":[-0.024399999064890543,-1.474114483435253,0.71338606911949],"aabb_xy":[[-0.046899998588597946,-1.4966104308858736],[-0.0018999995411831427,-1.451618535984632]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_26","position":[0.07487085699022178,1.7999247236991498,0.71338606911949],"aabb_xy":[[0.05776877903185361,1.78281791816788],[0.09197293494858992,1.8170315292304196]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_27","position":[-0.3782280742783367,-0.34551991987904973,0.71338606911949],"aabb_xy":[[-0.4157280728539575,-0.3582562155426076],[-0.3407280757027159,-0.33278362421549174]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_28","position":[0.5110069934088914,1.5393425921589903,0.71338606911949],"aabb_xy":[[0.46102404322141205,1.4893425925164296],[0.5609899435963707,1.5893425918015505]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_29","position":[0.23824331681243827,1.3622359862605071,0.71338606911949],"aabb_xy":[[0.22044980987752186,1.3444362406647095],[0.2560368237473547,1.3800357318563048]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_30","position":[-0.3621915446687983,-2.477626096147537,0.71338606911949],"aabb_xy":[[-0.3709727718160346,-2.4864058434360676],[-0.35341031752156216,-2.468846348859007]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_31","position":[0.545204307811868,-2.5293349321034997,0.71338606911949],"aabb_xy":[[0.4812043064038774,-2.581123883627424],[0.6092043092198587,-2.4775459805795745]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6869391474225154,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/714.png","name":"714"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/714.png","name":"714"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7124.png","name":"7124"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7493.png","name":"7493"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9650.png","name":"9650"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2703.png","name":"2703"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":674.9827719823869,"rotation_z_degrees":240.01421313127997,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006521940672306291,0.018146432198776614,-0.010621870280594444]},{"name":"camera_2","offset_m":[-0.004025960326536408,-0.009895820901771856,-0.01370635388768766]},{"name":"camera_3","offset_m":[-0.01050660288508528,-0.014440041147775397,0.004114493782343961]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00012964030067244363,-0.0005426116138740659,0.0011365876203982637],"end_effector_yaw_offset_degrees":0.15161440801814297},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019391051992475265,0.0016834536680105194,-0.001067640210474335],"end_effector_yaw_offset_degrees":-0.056837153614856195},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[9.796916439642122e-05,0.00145796302746498,0.0004805688287716158],"end_effector_yaw_offset_degrees":-0.8456857740754098}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0018543107757710668,0.00048536180030285016],"position_m":[0.28075431077577107,-0.11721463819969714,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0027603265950679203,0.0032911589143180793],"position_m":[0.2237396734049321,-0.4059088410856819,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00410810909809894,0.003472232817649477],"position_m":[0.3484918909019011,0.06947223281764948,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0038988059644377536,-0.004752641333577864],"position_m":[0.33830119403556225,0.31914735866642213,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"28510b74084b43da0c06f5dd2b4151dd28382b7bebb895dafa73d7d674daa365","episode_index":83,"episode_name":"episode_0083"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0083.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_714/tex_ceiling_textures_2703/tex_floor_textures_9650/tex_table_textures_7124/tex_wall_textures_7493","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":1912806827166062746,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":1912806827166062746,"visual_seed":1912806827166062746,"scene_id":"lab_003","finished_at":"2026-09-04T03:24:56"} +{"episode_id":"ep_000084","started_at":"2026-09-04T03:25:00","dimensions":{"distractor":{"count":26,"items":[{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_0","position":[0.11623358614457113,-0.904400580364934,0.71338606911949],"aabb_xy":[[0.09123358697893802,-0.9113528260702904],[0.14123358531020425,-0.8974483346595773]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_1","position":[-0.5482897220949343,1.4608874600951576,0.71338606911949],"aabb_xy":[[-0.5614409680662238,1.435887460338471],[-0.5351384761236451,1.4858874598518441]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_2","position":[0.36130280804485637,0.5966372151876294,0.71338606911949],"aabb_xy":[[0.3393941259055053,0.5747365483675386],[0.38321149018420736,0.6185378820077201]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_3","position":[0.07709531638383205,-0.7722011707620458,0.71338606911949],"aabb_xy":[[0.06983406881342463,-0.7849881810255555],[0.08435656395423946,-0.7594141604985365]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_4","position":[0.23064170621051272,-1.633415042306232,0.71338606911949],"aabb_xy":[[0.20814170569847212,-1.6559069006716303],[0.2531417067225533,-1.6109231839408336]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_5","position":[0.09945393352900689,-1.973989444736565,0.71338606911949],"aabb_xy":[[0.0948188183767735,-1.9778567798137132],[0.10408904868124028,-1.9701221096594157]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_6","position":[0.048371059283574325,-1.2280874065055225,0.71338606911949],"aabb_xy":[[-0.011628940562992462,-1.2849060286985614],[0.10837105913014111,-1.171268784312484]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_7","position":[-0.29326267159993274,-2.362089801881188,0.71338606911949],"aabb_xy":[[-0.3532626724607455,-2.4135162318876735],[-0.2332626707391199,-2.310663371874701]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_8","position":[-0.08830571374475471,0.21225885176823445,0.71338606911949],"aabb_xy":[[-0.10580571400409135,0.19816730957946185],[-0.07080571348541809,0.2263503939570071]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_9","position":[0.020991169616362604,1.2491056849523874,0.71338606911949],"aabb_xy":[[0.013950859682825615,1.1691056855527162],[0.028031479549899603,1.329105684352059]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_10","position":[0.36012653848232135,-1.1394280447647371,0.71338606911949],"aabb_xy":[[0.3483583516876638,-1.224428044669959],[0.37189472527697887,-1.0544280448595158]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_11","position":[-0.6027658105795662,-1.6400329746921178,0.71338606911949],"aabb_xy":[[-0.6827658138435794,-1.653593007001031],[-0.5227658073155531,-1.6264729423832043]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_12","position":[-0.5739121866403263,-2.348987749565941,0.71338606911949],"aabb_xy":[[-0.6379121830676482,-2.3961573733880375],[-0.5099121902130044,-2.3018181257438446]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_13","position":[-0.009771404181298848,-1.3931273866383127,0.71338606911949],"aabb_xy":[[-0.020611882407813753,-1.4103136679289614],[0.001069074045216058,-1.375941105347664]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_14","position":[-0.4573788660067398,0.2345721205194926,0.71338606911949],"aabb_xy":[[-0.5073631017149172,0.18457212170599702],[-0.40739463029856265,0.2845721193329882]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_15","position":[-0.43563525437063066,0.42912564632147454,0.71338606911949],"aabb_xy":[[-0.49063525354722015,0.37413597154651684],[-0.3806352551940412,0.4841153210964321]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_16","position":[-0.013781447610828335,-1.7094508271804019,0.71338606911949],"aabb_xy":[[-0.048372530464873546,-1.774450827465433],[0.02080963524321688,-1.6444508268953708]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_17","position":[0.5886451679270981,-0.9299260927129736,0.71338606911949],"aabb_xy":[[0.5186451661183527,-0.9512798614771611],[0.6586451697358435,-0.9085723239487864]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_18","position":[0.5821295164092697,-1.705172293982589,0.71338606911949],"aabb_xy":[[0.5205387571852769,-1.769172292091636],[0.6437202756332625,-1.6411722958735422]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_19","position":[-0.49558252012745396,1.654293702339126,0.71338606911949],"aabb_xy":[[-0.5107453931043912,1.6391282450440074],[-0.480419647150517,1.669459159634245]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_20","position":[0.5883055471178678,-2.4571901200818194,0.71338606911949],"aabb_xy":[[0.5430269322367185,-2.521190119430003],[0.633584161999017,-2.3931901207336357]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_21","position":[-0.5774954625820078,0.7923097189750372,0.71338606911949],"aabb_xy":[[-0.6134089670069974,0.7563962107582825],[-0.5415819581570182,0.8282232271917918]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_22","position":[-0.6320528675995956,1.1792337203093397,0.71338606911949],"aabb_xy":[[-0.652111279212836,1.1591686334001823],[-0.6119944559863554,1.1992988072184971]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_23","position":[0.646665740624049,-1.0268790427273524,0.71338606911949],"aabb_xy":[[0.6292350255450423,-1.044151157391203],[0.6640964557030553,-1.0096069280635014]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_24","position":[0.07254350516248487,-1.4657257249557203,0.71338606911949],"aabb_xy":[[0.05007873519107975,-1.4882257258345808],[0.09500827513388999,-1.4432257240768598]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_25","position":[-0.3888706203748481,1.390794548911027,0.71338606911949],"aabb_xy":[[-0.423870618644968,1.3837204212160386],[-0.3538706221047282,1.3978686766060149]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6910844053522697,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1658.png","name":"1658"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1658.png","name":"1658"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2716.png","name":"2716"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5127.png","name":"5127"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1173.png","name":"1173"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4342.png","name":"4342"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":752.3826766515311,"rotation_z_degrees":43.977250103234056,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0146533077437104,0.0003173327456881675,0.009254436896079764]},{"name":"camera_2","offset_m":[-0.014926084400350077,-0.007557343704630317,0.0018468495185228612]},{"name":"camera_3","offset_m":[0.016281504336017532,-0.001570192430334863,0.013769867311417248]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001054606941525061,0.001092838647401719,-0.0010867673093900234],"end_effector_yaw_offset_degrees":-0.5439797994387443},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001964294087974115,-0.0005825296896311617,0.0018718372217611402],"end_effector_yaw_offset_degrees":-0.9588490904370934},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00037446965462827097,0.000537159195208504,0.0004239214676095581],"end_effector_yaw_offset_degrees":-0.42538246054382234}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0021600265852687152,-0.004399116962869727],"position_m":[0.2767399734147313,-0.12209911696286972,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0010778561812906165,0.0025597961192868265],"position_m":[0.22757785618129062,-0.4066402038807132,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0025238842451536913,0.004773696624273031],"position_m":[0.35512388424515373,0.07077369662427303,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003810475776348733,0.0039106604145088516],"position_m":[0.33838952422365126,0.32781066041450885,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"bc9e55ef557c962e1ac5dbba067c489a5d339024b4023503ca904efb0d992c48","episode_index":84,"episode_name":"episode_0084"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0084.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_1658/tex_ceiling_textures_4342/tex_floor_textures_1173/tex_table_textures_2716/tex_wall_textures_5127","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":8234595525720366383,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":8234595525720366383,"visual_seed":8234595525720366383,"scene_id":"lab_003","finished_at":"2026-09-04T03:27:52"} +{"episode_id":"ep_000085","started_at":"2026-09-04T03:27:55","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_0","position":[-0.5956476212792589,-1.433056983885566,0.71338606911949],"aabb_xy":[[-0.6125583537156005,-1.4465291894781807],[-0.578736888842917,-1.4195847782929514]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_1","position":[-0.23581762611385215,-1.9422404770175241,0.71338606911949],"aabb_xy":[[-0.31581762312810013,-1.9623750286909354],[-0.15581762909960417,-1.9221059253441128]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_2","position":[0.1117241359412825,-1.3682144526111297,0.71338606911949],"aabb_xy":[[0.07828396074526289,-1.4016580784420596],[0.1451643111373021,-1.3347708267801994]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_3","position":[0.6567508929981429,1.3320658752655365,0.71338606911949],"aabb_xy":[[0.6342372011746856,1.262065874664529],[0.6792645848216,1.402065875866544]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_4","position":[-0.3016214052851746,1.4737961528193675,0.71338606911949],"aabb_xy":[[-0.3666214053194773,1.4270954761390402],[-0.23662140525087183,1.5204968294996948]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_5","position":[-0.48263309690218137,-1.2586792587062492,0.71338606911949],"aabb_xy":[[-0.4981888663124467,-1.2742296919506566],[-0.46707732749191616,-1.2431288254618422]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_6","position":[0.18059084838625794,0.632184368823681,0.71338606911949],"aabb_xy":[[0.14355673895819823,0.5978071614899715],[0.21762495781431765,0.6665615761573903]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_7","position":[-0.22445546379932552,-0.4344773470031891,0.71338606911949],"aabb_xy":[[-0.2353612398868882,-0.5144773434020182],[-0.21354968771176278,-0.3544773506043599]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_8","position":[-0.11730903592634934,0.3063735742065128,0.71338606911949],"aabb_xy":[[-0.13075556256039267,0.29290372255342156],[-0.103862509292306,0.319843425859604]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_9","position":[-0.5864894990236159,0.6082857902034027,0.71338606911949],"aabb_xy":[[-0.5947040441392997,0.5996091999057611],[-0.5782749539079317,0.6169623805010438]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_10","position":[0.6217602858177669,-2.1208973112804363,0.71338606911949],"aabb_xy":[[0.6137169258918117,-2.2058973123758028],[0.629803645743722,-2.03589731018507]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_11","position":[0.19993764816882686,1.1386075014016672,0.71338606911949],"aabb_xy":[[0.19602377497340429,1.1298584859951104],[0.20385152136424933,1.147356516808224]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_12","position":[0.48063654540343315,-0.5776567141350037,0.71338606911949],"aabb_xy":[[0.4306632514001727,-0.6276567146895511],[0.5306098394066936,-0.5276567135804564]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_13","position":[-0.3841347887971245,0.9445342814292794,0.71338606911949],"aabb_xy":[[-0.4269014956765447,0.8805342780074769],[-0.3413680819177043,1.0085342848510819]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_14","position":[0.2522988909544843,1.3319353630591095,0.71338606911949],"aabb_xy":[[0.1882988905769507,1.2821900962082973],[0.31629889133201794,1.3816806299099218]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_15","position":[-0.6239599867134107,0.41235123794102124,0.71338606911949],"aabb_xy":[[-0.6879599838255165,0.3633188681466107],[-0.5599599896013051,0.4613836077354319]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_16","position":[0.3785201985704154,0.5820939084491523,0.71338606911949],"aabb_xy":[[0.2985202014108401,0.5705463074913352],[0.4585201957299907,0.5936415094069692]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_17","position":[0.6649363665108343,-0.9107791996400092,0.71338606911949],"aabb_xy":[[0.656238404220119,-0.9229041739474841],[0.6736343288015496,-0.8986542253325347]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_18","position":[-0.11214579455216156,-0.43881387854153253,0.71338606911949],"aabb_xy":[[-0.13220420616540185,-0.45887896545069007],[-0.09208738293892126,-0.418748791632375]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_19","position":[-0.08122215829820467,-1.7873469864811524,0.71338606911949],"aabb_xy":[[-0.14122215854960585,-1.841628311517617],[-0.021222158046803496,-1.7330656614446878]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_20","position":[-0.10604007779220681,-1.4317099323238929,0.71338606911949],"aabb_xy":[[-0.17604007420216855,-1.4521478679755742],[-0.036040081382244994,-1.4112719966722107]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_21","position":[-0.20714820914344356,1.7845129718679646,0.71338606911949],"aabb_xy":[[-0.2357975415038598,1.7558674125908884],[-0.17849887678302734,1.81315853114504]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_22","position":[-0.16815574445688242,0.5386810502871073,0.71338606911949],"aabb_xy":[[-0.17519605439041944,0.45868105088743605],[-0.16111543452334545,0.6186810496867788]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_23","position":[0.40132198737352076,1.4099551575310216,0.71338606911949],"aabb_xy":[[0.36632198818070244,1.398988111533359],[0.43632198656633897,1.420922203528684]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_24","position":[-0.2915442840856423,-2.3015961801424645,0.71338606911949],"aabb_xy":[[-0.3415442844462083,-2.351576167352067],[-0.24154428372507622,-2.251616192932861]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_25","position":[-0.046878161792925144,1.4367626565003735,0.71338606911949],"aabb_xy":[[-0.1118781599488442,1.4104664119504613],[0.018121836362993915,1.4630589010502857]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_26","position":[0.23085764846388757,-2.224533008360107,0.71338606911949],"aabb_xy":[[0.2070214308232825,-2.314533009168594],[0.2546938661044926,-2.134533007551621]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_27","position":[0.20774326236260354,-0.8628660356190676,0.71338606911949],"aabb_xy":[[0.14374326596703046,-0.9268293240378012],[0.2717432587581766,-0.798902747200334]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_28","position":[0.5016160601517117,-2.502671501811885,0.71338606911949],"aabb_xy":[[0.4780309366878168,-2.5676715040573166],[0.5252011836156065,-2.437671499566453]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_29","position":[-0.0675833535494067,1.6386233490520605,0.71338606911949],"aabb_xy":[[-0.1275833533959735,1.5818047268590218],[-0.007583353702839912,1.6954419712450992]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_30","position":[0.07506881538324361,-2.425812687546186,0.71338606911949],"aabb_xy":[[0.011068815122772814,-2.4708214868991134],[0.13906881564371443,-2.3808038881932574]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_31","position":[-0.6075543776565181,-0.6350684256210073,0.71338606911949],"aabb_xy":[[-0.6485723210428891,-0.6850684262519646],[-0.5665364342701473,-0.58506842499005]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_32","position":[-0.47618843749756506,-2.401641045726845,0.71338606911949],"aabb_xy":[[-0.48344968506797253,-2.414428055990354],[-0.4689271899271577,-2.388854035463335]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6909410881707169,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9832.png","name":"9832"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9832.png","name":"9832"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2611.png","name":"2611"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6029.png","name":"6029"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2744.png","name":"2744"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2374.png","name":"2374"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":658.15963616413,"rotation_z_degrees":150.40186796946077,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004224969212043642,0.018327677588606085,0.01782737776358583]},{"name":"camera_2","offset_m":[-0.011299458853757742,-0.015709639470209688,0.01911697011203813]},{"name":"camera_3","offset_m":[-0.013805707407986225,0.010750573857060304,0.008365562566452388]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008902273634986786,0.00031116466451285105,-0.0016522153291682567],"end_effector_yaw_offset_degrees":-0.0701811796488403},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016774227548134093,0.0001886649704135367,-0.0014846136375575773],"end_effector_yaw_offset_degrees":0.21040995535997098},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0003554688952018554,-0.0012626133879369578,0.0009476727632592497],"end_effector_yaw_offset_degrees":-0.6209775172811354}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0005854016973858046,-0.0023613131792714305],"position_m":[0.2783145983026142,-0.12006131317927143,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004389917274717768,0.002109707562610836],"position_m":[0.22211008272528224,-0.40709029243738915,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[3.7934707048064946e-05,0.002522960924431713],"position_m":[0.3526379347070481,0.06852296092443172,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0012294039283539727,-0.0012322065213432798],"position_m":[0.34097059607164604,0.32266779347865676,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"57e2c479c1c3c3d8f53ecb7470538b5457bc657a2e9ac74ba16c31efa2dc5a8f","episode_index":85,"episode_name":"episode_0085"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0085.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_9832/tex_ceiling_textures_2374/tex_floor_textures_2744/tex_table_textures_2611/tex_wall_textures_6029","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":7317600176363349661,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":7317600176363349661,"visual_seed":7317600176363349661,"scene_id":"lab_003","finished_at":"2026-09-04T03:30:38"} +{"episode_id":"ep_000086","started_at":"2026-09-04T03:30:42","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_0","position":[0.09565238074711879,-1.7339618586654661,0.71338606911949],"aabb_xy":[[0.08508490108901978,-1.7445068887784747],[0.1062198604052178,-1.7234168285524576]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_1","position":[-0.46582698705772313,0.4287018300460228,0.71338606911949],"aabb_xy":[[-0.5001432642323411,0.3787018300728451],[-0.4315107098831052,0.4787018300192005]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_2","position":[0.19867229468218817,1.1370493704330147,0.71338606911949],"aabb_xy":[[0.18776651859462545,1.0570493740341855],[0.20957807076975088,1.2170493668318438]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_3","position":[-0.29656512911719485,-2.1323072328105033,0.71338606911949],"aabb_xy":[[-0.3465381946497103,-2.182307232623036],[-0.2465920635846794,-2.0823072329979704]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_4","position":[0.5011943036432398,-0.06022338207188582,0.71338606911949],"aabb_xy":[[0.47122674673341414,-0.09022338236977157],[0.5311618605530655,-0.03022338177400008]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_5","position":[-0.4506690200064237,1.194647535227162,0.71338606911949],"aabb_xy":[[-0.5146690202668944,1.149638735874234],[-0.3866690197459529,1.23965633458009]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_6","position":[-0.44559870082984915,-2.3193931346453605,0.71338606911949],"aabb_xy":[[-0.4800610482279909,-2.3538870170431823],[-0.4111363534317073,-2.284899252247537]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_7","position":[-0.24770421951622706,-2.4064235722957417,0.71338606911949],"aabb_xy":[[-0.28520421933326057,-2.411061783606883],[-0.21020421969919348,-2.4017853609845994]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_8","position":[0.39313214443568567,0.6913775125907358,0.71338606911949],"aabb_xy":[[0.343132144859351,0.6413969336386299],[0.44313214401202045,0.7413580915428418]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_9","position":[0.20091059710022496,-2.195912235897284,0.71338606911949],"aabb_xy":[[0.178411461373998,-2.2184122366755465],[0.22340973282645193,-2.173412235119021]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_10","position":[0.48948182204658885,0.2530593283399689,0.71338606911949],"aabb_xy":[[0.4094818240658038,0.24545778737811694],[0.5694818200273739,0.2606608693018208]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_11","position":[0.49543049329698796,-0.3972066848063358,0.71338606911949],"aabb_xy":[[0.47415248515351566,-0.4622066871324089],[0.5167085014404602,-0.3322066824802628]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_12","position":[-0.2637231713781262,-0.6851974635648648,0.71338606911949],"aabb_xy":[[-0.32872317401591966,-0.7366770622643116],[-0.1987231687403327,-0.6337178648654177]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_13","position":[-0.4210856033158936,-1.3292331346205957,0.71338606911949],"aabb_xy":[[-0.43858560245026074,-1.3391127616581833],[-0.4035856041815264,-1.3193535075830076]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_14","position":[-0.5834553612303528,-0.035974701319100966,0.71338606911949],"aabb_xy":[[-0.6474553645200608,-0.07930962032301858],[-0.5194553579406446,0.007360217684816642]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_15","position":[0.48914435102907006,-0.951819385377938,0.71338606911949],"aabb_xy":[[0.47093852736782243,-0.9628447859599297],[0.5073501746903177,-0.9407939847959464]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_16","position":[0.4143999953081978,1.6671131526490792,0.71338606911949],"aabb_xy":[[0.378770839408238,1.6314804858922263],[0.4500291512081575,1.7027458194059322]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_17","position":[0.05853649372645375,-1.8762337677493597,0.71338606911949],"aabb_xy":[[-0.021463507346666584,-1.8860118140867441],[0.13853649479957408,-1.8664557214119752]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_18","position":[-0.2514888089654491,-1.3994842969877752,0.71338606911949],"aabb_xy":[[-0.25745534790618485,-1.4054454416471391],[-0.24552227002471327,-1.3935231523284113]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_19","position":[0.4995236536394654,-1.419771588900968,0.71338606911949],"aabb_xy":[[0.47702365312742473,-1.4422634472663665],[0.522023654151506,-1.3972797305355698]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_20","position":[-0.48652748576597704,0.8839674968428652,0.71338606911949],"aabb_xy":[[-0.49064343587804965,0.8798519418100196],[-0.4824115356539043,0.8880830518757107]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_21","position":[0.4033217649653056,-0.5985076473275555,0.71338606911949],"aabb_xy":[[0.3133217612883873,-0.6599400539046596],[0.4933217686422236,-0.5370752407504509]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6934265686047125,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4049.png","name":"4049"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4049.png","name":"4049"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1986.png","name":"1986"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8807.png","name":"8807"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3499.png","name":"3499"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8305.png","name":"8305"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":722.0373260017027,"rotation_z_degrees":326.54455116911464,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015485843255664183,-0.0029944657124577785,0.007985635603212731]},{"name":"camera_2","offset_m":[0.0072219896418326684,0.0051953204877544755,-0.017830067162640566]},{"name":"camera_3","offset_m":[-0.0012032179372380332,0.017871969978882008,-0.019408685486819427]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001143322521805319,0.0017682676618121654,0.00018367709460543344],"end_effector_yaw_offset_degrees":-0.9407591249681959},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013253165791023997,-0.0013964018454714685,-0.0006673966255841659],"end_effector_yaw_offset_degrees":-0.9346000798094887},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010217843825686551,0.0011622356335530175,0.0002650645828394583],"end_effector_yaw_offset_degrees":0.792529850319164}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-8.968734234464718e-05,0.0004859847681523508],"position_m":[0.2788103126576553,-0.11721401523184764,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0046880990071050685,-0.0007943382411948578],"position_m":[0.23118809900710507,-0.40999433824119486,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0024445155169716525,0.0004799510653119444],"position_m":[0.35015548448302836,0.06647995106531195,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0014589791899193927,0.0044836147582368495],"position_m":[0.3407410208100806,0.32838361475823685,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"94768a3dd34b9bbbdccd31accb9f5008bc11a7054e0857f1c599efba80cce668","episode_index":86,"episode_name":"episode_0086"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0086.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_4049/tex_ceiling_textures_8305/tex_floor_textures_3499/tex_table_textures_1986/tex_wall_textures_8807","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":6315708568620398424,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":6315708568620398424,"visual_seed":6315708568620398424,"scene_id":"lab_003","finished_at":"2026-09-04T03:33:43"} +{"episode_id":"ep_000087","started_at":"2026-09-04T03:33:47","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_0","position":[-0.3656324542325433,-1.4350454949829516,0.71338606911949],"aabb_xy":[[-0.38313245447759264,-1.4525452828225183],[-0.3481324539874939,-1.4175457071433846]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_1","position":[0.4861058066402717,-1.9535285663850968,0.71338606911949],"aabb_xy":[[0.438976427638436,-2.0175285674294985],[0.5332351856421074,-1.8895285653406948]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_2","position":[-0.291522680175302,1.3259676468839086,0.71338606911949],"aabb_xy":[[-0.3024284562628647,1.2459676504850792],[-0.28061690408773926,1.4059676432827375]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_3","position":[-0.0325909756428151,0.5638267399427157,0.71338606911949],"aabb_xy":[[-0.04723438119684808,0.5491680202859315],[-0.01794757008878211,0.5784854595994999]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_4","position":[-0.44858648172712856,1.1793403377962717,0.71338606911949],"aabb_xy":[[-0.45662984165308373,1.0943403367009052],[-0.4405431218011734,1.264340338891638]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_5","position":[-0.3297643978455156,-0.42508374073015176,0.71338606911949],"aabb_xy":[[-0.35165414543445633,-0.5150837380194009],[-0.30787465025657473,-0.33508374344090264]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_6","position":[-0.4526893897072434,0.9456959577305208,0.71338606911949],"aabb_xy":[[-0.4571200190620836,0.9402475859958382],[-0.44825876035240325,0.9511443294652034]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_7","position":[-0.6104179131714251,1.7583850593965278,0.71338606911949],"aabb_xy":[[-0.6303089530517654,1.7457292481118314],[-0.5905268732910849,1.771040870681225]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_8","position":[-0.5767264014566896,-1.633077467635223,0.71338606911949],"aabb_xy":[[-0.622811492711421,-1.6970774648877782],[-0.530641310201958,-1.569077470382668]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_9","position":[0.4916769677420001,-1.0583987805551853,0.71338606911949],"aabb_xy":[[0.4560478118420404,-1.0940314473120383],[0.5273061236419598,-1.0227661137983324]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_10","position":[-0.1139218402200356,-2.269866043543687,0.71338606911949],"aabb_xy":[[-0.11937978585705565,-2.349866046851346],[-0.10846389458301552,-2.1898660402360277]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_11","position":[-0.41686749551059465,-0.38518403785053934,0.71338606911949],"aabb_xy":[[-0.42336913201859927,-0.39495185987684917],[-0.41036585900259004,-0.3754162158242296]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_12","position":[0.329265713448027,-1.6182488053579327,0.71338606911949],"aabb_xy":[[0.26426571489095413,-1.6480013387718153],[0.3942657120050998,-1.58849627194405]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_13","position":[-0.21979519108807644,-1.5987465530263607,0.71338606911949],"aabb_xy":[[-0.23729519036616334,-1.6160846530927064],[-0.2022951918099896,-1.5814084529600145]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_14","position":[0.09177565574602142,-1.5066108563011134,0.71338606911949],"aabb_xy":[[0.05731330834787959,-1.5411047386989358],[0.12623800314416317,-1.4721169739032904]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_15","position":[-0.14757231607013999,-1.8429433798790877,0.71338606911949],"aabb_xy":[[-0.2025723142718848,-1.8834653465055253],[-0.09257231786839513,-1.8024214132526502]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_16","position":[0.6457361462730331,0.915176461329303,0.71338606911949],"aabb_xy":[[0.6035517321122023,0.8511764610520918],[0.6879205604338637,0.9791764616065142]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_17","position":[-0.41590431547771656,1.0161149022593476,0.71338606911949],"aabb_xy":[[-0.4404179395747225,0.9918503089573112],[-0.39139069138071075,1.040379495561384]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_18","position":[-0.4241694035613997,-1.8431965203842693,0.71338606911949],"aabb_xy":[[-0.47416940313773437,-1.8931770993363752],[-0.37416940398506493,-1.7932159414321633]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_19","position":[0.6101106833669341,1.4382819366807742,0.71338606911949],"aabb_xy":[[0.5733160502420279,1.401376061584192],[0.6469053164918405,1.4751878117773565]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_20","position":[-0.27163404696905763,-2.1931661521125196,0.71338606911949],"aabb_xy":[[-0.30913404726123245,-2.197207627513123],[-0.2341340466768828,-2.1891246767119155]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_21","position":[-0.4486459788703171,-2.257199870703637,0.71338606911949],"aabb_xy":[[-0.5086459805132391,-2.3092000199955813],[-0.3886459772273953,-2.205199721411693]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_22","position":[0.39960829094843375,1.2161458479528218,0.71338606911949],"aabb_xy":[[0.31960829354484027,1.1361532767546385],[0.4796082883520271,1.2961384191510041]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_23","position":[0.3583818411810218,-2.3354714941628365,0.71338606911949],"aabb_xy":[[0.3478143615229227,-2.3460165242758446],[0.36894932083912074,-2.3249264640498275]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_24","position":[0.2885554112926698,-1.0954666724171473,0.71338606911949],"aabb_xy":[[0.27145333333430166,-1.112573477948417],[0.305657489251038,-1.0783598668858776]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_25","position":[0.21392561474635474,-2.4222996383183864,0.71338606911949],"aabb_xy":[[0.20384390766778127,-2.5022996362105006],[0.22400732182492822,-2.3422996404262713]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_26","position":[0.08189300291620505,1.3065589201850032,0.71338606911949],"aabb_xy":[[0.0018929996583620934,1.226562412393019],[0.161893006174048,1.386555427976987]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_27","position":[-0.5962507834499267,0.33471238376299706,0.71338606911949],"aabb_xy":[[-0.6055444016870771,0.29721238527486316],[-0.586957165212776,0.37221238225113096]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_28","position":[0.6414821709255112,-2.5534171153028153,0.71338606911949],"aabb_xy":[[0.6064821695740293,-2.573776851259636],[0.6764821722769928,-2.5330573793459945]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_29","position":[0.6549660966979447,-1.0614529657042142,0.71338606911949],"aabb_xy":[[0.5909660959944754,-1.1074713481771354],[0.718966097401414,-1.0154345832312934]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_30","position":[-0.6498751440573645,-0.6248822823461053,0.71338606911949],"aabb_xy":[[-0.6810220629009475,-0.6948822810329124],[-0.6187282252137812,-0.554882283659298]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_31","position":[-0.43707583710846404,-0.5365749511993188,0.71338606911949],"aabb_xy":[[-0.48206842382691434,-0.5815749504737674],[-0.3920832503900135,-0.4915749519248699]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_32","position":[-0.2113233083332186,-0.6998971303530419,0.71338606911949],"aabb_xy":[[-0.24480247559425958,-0.733376243724149],[-0.1778441410721777,-0.666418016981935]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_33","position":[0.6050912575933036,-2.2102307480722985,0.71338606911949],"aabb_xy":[[0.5450912569972874,-2.2650432206175224],[0.6650912581893198,-2.1554182755270754]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_34","position":[-0.3912243765682892,-1.0707816229336322,0.71338606911949],"aabb_xy":[[-0.4216224876674327,-1.1011885249353015],[-0.36082626546914554,-1.0403747209319625]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6966519134298158,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5751.png","name":"5751"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5751.png","name":"5751"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/616.png","name":"616"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6719.png","name":"6719"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5105.png","name":"5105"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3843.png","name":"3843"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":807.0167733910662,"rotation_z_degrees":15.56423642512668,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016061854213482902,0.009484660956764649,-0.010737498467435614]},{"name":"camera_2","offset_m":[0.01242399477243675,0.01323607603961596,0.0017808994000689214]},{"name":"camera_3","offset_m":[-0.01410996083065879,-0.004021603324074988,0.0030084458749325867]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006607876700829021,-0.0001782443150438037,0.0006573463781225026],"end_effector_yaw_offset_degrees":-0.7236610266911301},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010172886277455234,0.0017570287546534572,-7.981791028407949e-05],"end_effector_yaw_offset_degrees":-0.29888251411745337},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00014279587706189168,-0.0016498043839927284,-5.072571470513638e-05],"end_effector_yaw_offset_degrees":0.9209871466086372}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0017615097740344724,0.0006587806715655673],"position_m":[0.2806615097740345,-0.11704121932843443,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002743543685993754,-0.0028858348025157556],"position_m":[0.22924354368599376,-0.41208583480251576,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004275768562633019,0.0013860207544243996],"position_m":[0.348324231437367,0.0673860207544244,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0025094255887944525,0.00390512105134115],"position_m":[0.34470942558879447,0.3278051210513412,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d30972bd3bbe1a1a565d3c320dd78cef3def2d918ef6c258dbc654efdc03f0b9","episode_index":87,"episode_name":"episode_0087"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0087.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_5751/tex_ceiling_textures_3843/tex_floor_textures_5105/tex_table_textures_616/tex_wall_textures_6719","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":3273072722140431100,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":3273072722140431100,"visual_seed":3273072722140431100,"scene_id":"lab_003","finished_at":"2026-09-04T03:36:33"} +{"episode_id":"ep_000088","started_at":"2026-09-04T03:36:35","dimensions":{"distractor":{"count":20,"items":[{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_0","position":[0.28208501381378115,1.6684319400801653,0.71338606911949],"aabb_xy":[[0.1970850151217065,1.6364460766852866],[0.3670850125058558,1.7004178034750443]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_1","position":[-0.3697323593973784,-1.1736898795476627,0.71338606911949],"aabb_xy":[[-0.41490367724554744,-1.237689876692201],[-0.32456104154920945,-1.1096898824031243]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_2","position":[-0.4298257247043802,0.34021922568399665,0.71338606911949],"aabb_xy":[[-0.4361378242407186,0.3344522864307779],[-0.42351362516804175,0.3459861649372155]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_3","position":[-0.4472045127510125,-2.0958034847456832,0.71338606911949],"aabb_xy":[[-0.4724253496108521,-2.121027235598569],[-0.42198367589117275,-2.070579733892796]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_4","position":[0.3381152332018367,0.953126855102334,0.71338606911949],"aabb_xy":[[0.3006152330299647,0.9204261197194267],[0.37561523337370856,0.985827590485241]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_5","position":[-0.31246630479434284,1.256961731459438,0.71338606911949],"aabb_xy":[[-0.32116426708505813,1.2448367571519634],[-0.30376834250362755,1.2690867057669128]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_6","position":[0.5202292077649315,0.301416413183611,0.71338606911949],"aabb_xy":[[0.4983394601759908,0.21141641589436191],[0.5421189553538723,0.39141641047286013]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_7","position":[-0.3317624702899829,1.6648327187373346,0.71338606911949],"aabb_xy":[[-0.42176246970835374,1.6314572218931451],[-0.24176247087161196,1.6982082155815246]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_8","position":[0.6142478962159326,-2.21707490236719,0.71338606911949],"aabb_xy":[[0.5642478975700114,-2.2669944460266525],[0.6642478948618538,-2.1671553587077277]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_9","position":[-0.18062006866206437,-0.5923208964250766,0.71338606911949],"aabb_xy":[[-0.23061934383050056,-0.6423208977010239],[-0.13062079349362823,-0.5423208951491295]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_10","position":[0.6058565942277505,-1.1579054050843829,0.71338606911949],"aabb_xy":[[0.5970545389187778,-1.1657167312393117],[0.6146586495367232,-1.1500940789294536]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_11","position":[0.07117159036937704,-1.5322348994878396,0.71338606911949],"aabb_xy":[[0.044882766048936366,-1.5585063331424907],[0.09746041468981768,-1.5059634658331882]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_12","position":[0.5066295395936,0.907452791984209,0.71338606911949],"aabb_xy":[[0.46538072856368523,0.8524527924719913],[0.5478783506235146,0.9624527914964263]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_13","position":[-0.3198304132392952,-2.4223692539777506,0.71338606911949],"aabb_xy":[[-0.34979797014912084,-2.452369254275636],[-0.2898628563294695,-2.392369253679865]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_14","position":[-0.11200036108444389,0.969179761412815,0.71338606911949],"aabb_xy":[[-0.13450036109459218,0.9550835417732116],[-0.0895003610742956,0.9832759810524182]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_15","position":[0.25592905832902,-1.9470764901468196,0.71338606911949],"aabb_xy":[[0.24076618535208294,-1.9622419474419386],[0.2710919313059571,-1.931911032851701]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_16","position":[0.004167914375441173,-2.437563974843009,0.71338606911949],"aabb_xy":[[-0.059832087674290824,-2.4776584579323173],[0.06816791642517317,-2.3974694917537014]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_17","position":[0.515075742963222,-2.443063096716569,0.71338606911949],"aabb_xy":[[0.4250757464623502,-2.488974739135027],[0.6050757394640937,-2.3971514542981107]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_18","position":[-0.08499594798648713,0.47492225520267484,0.71338606911949],"aabb_xy":[[-0.12249594656210792,0.46218595953911684],[-0.047495949410866316,0.4876585508662327]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_19","position":[0.41864228235233436,-1.8314571438144909,0.71338606911949],"aabb_xy":[[0.4136862621674533,-1.8539571440166127],[0.42359830253721564,-1.8089571436123695]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6961496065335868,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2193.png","name":"2193"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2193.png","name":"2193"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7465.png","name":"7465"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1601.png","name":"1601"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3289.png","name":"3289"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7498.png","name":"7498"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":771.6743456570762,"rotation_z_degrees":175.58001962251566,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01255417103135879,0.010838415369513407,-0.01776919806838563]},{"name":"camera_2","offset_m":[-0.002483444942429497,0.012457083162693155,-0.014775295099842926]},{"name":"camera_3","offset_m":[0.011177379298421213,-0.00966383704615748,-0.014659144026088864]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008569131277614971,0.0010736250634308044,-0.00011774037035306513],"end_effector_yaw_offset_degrees":-0.025033975929115826},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006011871586887453,-0.0012283491256665831,9.813004892767537e-05],"end_effector_yaw_offset_degrees":-0.623486346178437},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00041152059001902026,0.0009816581329066547,-0.0017897405312573276],"end_effector_yaw_offset_degrees":-0.220948653580624}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0015632332748486012,0.004111691856821006],"position_m":[0.2773367667251514,-0.113588308143179,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001814501718471966,-0.004313845214011311],"position_m":[0.22468549828152803,-0.4135138452140113,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[3.379697862310616e-05,0.0003240835452847481],"position_m":[0.3526337969786231,0.06632408354528475,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0016070609425250402,0.004528307919850798],"position_m":[0.34380706094252506,0.32842830791985084,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7ea5aac6d2e42dfacabdf31bb18795b4bcd32fd50748427200ef3e3ade6e0ce5","episode_index":88,"episode_name":"episode_0088"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0088.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_2193/tex_ceiling_textures_7498/tex_floor_textures_3289/tex_table_textures_7465/tex_wall_textures_1601","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":42752786809774107,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":42752786809774107,"visual_seed":42752786809774107,"scene_id":"lab_003","finished_at":"2026-09-04T03:39:22"} +{"episode_id":"ep_000089","started_at":"2026-09-04T03:39:25","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_0","position":[0.353042176693243,-0.8472338502918051,0.71338606911949],"aabb_xy":[[0.34908169292350866,-0.8549017148773257],[0.35700266046297735,-0.8395659857062845]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_1","position":[-0.5530989290587678,1.0407678820101727,0.71338606911949],"aabb_xy":[[-0.5579982213653312,1.013090962707604],[-0.5481996367522042,1.0684448013127414]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_2","position":[0.4748131761523642,0.7381359071477469,0.71338606911949],"aabb_xy":[[0.4573132427183808,0.7206359072275123],[0.49231310958634755,0.7556359070679813]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_3","position":[-0.25417786303491435,0.8965320123854403,0.71338606911949],"aabb_xy":[[-0.30365828424887314,0.8325320144725885],[-0.20469744182095556,0.9605320102982922]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_4","position":[0.5977625219715019,-1.5913866952107916,0.71338606911949],"aabb_xy":[[0.5727625228058689,-1.5983389409161484],[0.6227625211371351,-1.5844344495054352]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_5","position":[0.5991464922634575,-1.7872499319979736,0.71338606911949],"aabb_xy":[[0.5490490282823839,-1.8512499325077854],[0.6492439562445311,-1.7232499314881617]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_6","position":[-0.4852283854501358,-1.9797833271296739,0.71338606911949],"aabb_xy":[[-0.5227283866349284,-1.9842015498257342],[-0.4477283842653429,-1.9753651044336131]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_7","position":[-0.5991347276277448,-0.786532109613238,0.71338606911949],"aabb_xy":[[-0.6641347302655383,-0.8380117083126851],[-0.5341347249899513,-0.7350525109137912]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_8","position":[-0.6047272292405164,-1.7406279232134312,0.71338606911949],"aabb_xy":[[-0.6500058441216657,-1.8046279225616149],[-0.5594486143593672,-1.6766279238652475]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_9","position":[-0.42533142854813283,-0.20426022053922654,0.71338606911949],"aabb_xy":[[-0.43709961534279046,-0.2892602204444481],[-0.4135632417534754,-0.11926022063400496]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_10","position":[-0.5317222185661961,-2.1918074893642374,0.71338606911949],"aabb_xy":[[-0.5816952840987116,-2.2418074891767703],[-0.4817491530336807,-2.1418074895517045]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_11","position":[0.4246948200651728,0.5904012699975305,0.71338606911949],"aabb_xy":[[0.41665848536388783,0.5823631506931137],[0.4327311547664575,0.5984393893019473]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_12","position":[0.029487845810787672,0.8170245744679661,0.71338606911949],"aabb_xy":[[0.02070661866355145,0.8082448271794362],[0.038269072958023904,0.8258043217564965]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_13","position":[-0.5732161148450846,0.21109449112553014,0.71338606911949],"aabb_xy":[[-0.5968012383089795,0.14609448888009835],[-0.5496309913811898,0.2760944933709619]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_14","position":[0.5144148955818566,-0.09733431857892905,0.71338606911949],"aabb_xy":[[0.4914991826968068,-0.12023861571535255],[0.5373306084669066,-0.07443002144250553]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_15","position":[0.6129762390460347,-1.1902232089495344,0.71338606911949],"aabb_xy":[[0.6021357608195198,-1.2074094902401833],[0.6238167172725496,-1.1730369276588855]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_16","position":[-0.04375909510010845,-2.1318463867105204,0.71338606911949],"aabb_xy":[[-0.10775909240245485,-2.176212813678377],[0.02024090220223796,-2.0874799597426636]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_17","position":[0.5118686472199578,1.231292353784959,0.71338606911949],"aabb_xy":[[0.4944379321409513,1.214020239121108],[0.5292993622989642,1.2485644684488095]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_18","position":[0.5381890453243063,0.010115573195857763,0.71338606911949],"aabb_xy":[[0.5011549358962465,-0.024261634137851686],[0.575223154752366,0.04449278052956721]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_19","position":[-0.0886841824979192,0.8510273668593742,0.71338606911949],"aabb_xy":[[-0.1526841789252411,0.8038577430372779],[-0.024684186070597317,0.8981969906814707]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_20","position":[-0.297238976493936,-0.14733750639965715,0.71338606911949],"aabb_xy":[[-0.36123897566370594,-0.19410419351861963],[-0.23323897732416607,-0.10057081928069468]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_21","position":[-0.321371754671955,-1.1795454343498823,0.71338606911949],"aabb_xy":[[-0.38137175526797124,-1.234357906895106],[-0.2613717540759389,-1.124732961804659]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_22","position":[0.2121528716285308,-2.53159625821196,0.71338606911949],"aabb_xy":[[0.18968810165712569,-2.5540962590908203],[0.23461764159993592,-2.5090962573330993]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_23","position":[-0.13592893512543291,0.6142706892776779,0.71338606911949],"aabb_xy":[[-0.14355320321561116,0.6066374657411342],[-0.12830466703525467,0.6219039128142216]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_24","position":[0.35854593418067626,1.1750887422134846,0.71338606911949],"aabb_xy":[[0.35484267285153737,1.1713867239047666],[0.36224919550981516,1.178790760522202]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_25","position":[0.17944898886977745,-2.1011281391928387,0.71338606911949],"aabb_xy":[[0.15694898905587507,-2.105602755563319],[0.20194898868367983,-2.096653522822358]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_26","position":[-0.28911368392976333,0.7028210597211304,0.71338606911949],"aabb_xy":[[-0.36911368420337026,0.6298715118954137],[-0.20911368365615632,0.7757706075468471]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_27","position":[-0.4609494558705458,-1.845992270778269,0.71338606911949],"aabb_xy":[[-0.5109282643808617,-1.895992270783988],[-0.4109706473602299,-1.7959922707725504]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_28","position":[0.3322110430860823,-1.5491113769814229,0.71338606911949],"aabb_xy":[[0.2522110416559551,-1.6286285319940321],[0.4122110445162095,-1.4695942219688132]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_29","position":[0.22779735993632488,1.5895339150858656,0.71338606911949],"aabb_xy":[[0.16779735829340303,1.5375337657939212],[0.28779736157924674,1.6415340643778096]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_30","position":[-0.24341990527377944,-2.569538663636932,0.71338606911949],"aabb_xy":[[-0.28091990521754584,-2.5778317536717683],[-0.20591990533001306,-2.561245573602095]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_31","position":[0.015320586436775918,-1.5514995805337313,0.71338606911949],"aabb_xy":[[-0.07467941298159497,-1.5848750773779208],[0.10532058585514681,-1.5181240836895413]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_32","position":[-0.20709333002952024,-0.6073948453883744,0.71338606911949],"aabb_xy":[[-0.25709332946971586,-0.6573627698726906],[-0.1570933305893246,-0.557426920904058]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_33","position":[0.015610263974632943,-1.6781921235730635,0.71338606911949],"aabb_xy":[[0.00834901640422553,-1.690979133836573],[0.022871511545040357,-1.665405113309554]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_34","position":[-0.5221936602986735,0.0377809038211363,0.71338606911949],"aabb_xy":[[-0.5446936608107141,0.015289045455737942],[-0.49969365978663294,0.06027276218653465]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6913958022809726,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7349.png","name":"7349"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7349.png","name":"7349"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8104.png","name":"8104"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2557.png","name":"2557"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/347.png","name":"347"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7313.png","name":"7313"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":529.3820509079774,"rotation_z_degrees":206.25040512842148,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002260718186039342,-0.01933355787131851,0.011541375653364116]},{"name":"camera_2","offset_m":[-0.019440336282994634,0.008177557844695298,0.01690985247292721]},{"name":"camera_3","offset_m":[-0.011365313247083812,-0.013754275865273845,0.014737226058982356]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0016019852201391723,0.001033094105000612,-0.0015153750818845686],"end_effector_yaw_offset_degrees":0.9661155318079566},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015840502606033527,0.0009678226541608307,-0.001386785369160105],"end_effector_yaw_offset_degrees":-0.4244625489018037},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008216266131610608,0.0004231470443297777,-0.000867193556235688],"end_effector_yaw_offset_degrees":-0.37274474168152394}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0014930469568817028,-0.0011631802960437167],"position_m":[0.2774069530431183,-0.11886318029604372,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004617372176887796,0.0005594393126878879],"position_m":[0.22188262782311222,-0.40864056068731214,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003957911105539663,-0.003997079069382551],"position_m":[0.3565579111055397,0.062002920930617454,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0015351487271964572,0.00031687452732651403],"position_m":[0.34066485127280355,0.32421687452732656,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e6c879b6faf72d35673a3ce69d7e9f02366dea60f95b9e8c23a2a309986a6fa8","episode_index":89,"episode_name":"episode_0089"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0089.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_7349/tex_ceiling_textures_7313/tex_floor_textures_347/tex_table_textures_8104/tex_wall_textures_2557","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":8288818476715911717,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":8288818476715911717,"visual_seed":8288818476715911717,"scene_id":"lab_003","finished_at":"2026-09-04T03:42:07"} +{"episode_id":"ep_000090","started_at":"2026-09-04T03:42:11","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_0","position":[-0.5951424357679738,-1.9475827075249028,0.71338606911949],"aabb_xy":[[-0.6015562494111586,-1.9539925277725712],[-0.5887286221247887,-1.9411728872772345]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_1","position":[0.438311601125148,-0.772799738823946,0.71338606911949],"aabb_xy":[[0.3883123259567119,-0.8227997400998932],[0.4883108762935842,-0.7227997375479989]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_2","position":[0.14335398690711854,-2.0864985127144187,0.71338606911949],"aabb_xy":[[0.12043827402206866,-2.109402809850842],[0.16626969979216846,-2.063594215577995]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_3","position":[-0.3706664460034474,-1.6130582920051797,0.71338606911949],"aabb_xy":[[-0.43466644768144475,-1.661575683484494],[-0.30666644432545004,-1.5645409005258655]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_4","position":[0.6684475859678005,1.538228750452808,0.71338606911949],"aabb_xy":[[0.6184475850172676,1.5066796034492864],[0.7184475869183332,1.5697778974563292]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_5","position":[-0.19480724185570142,1.0285127273855657,0.71338606911949],"aabb_xy":[[-0.21235393677182035,0.9910127258213144],[-0.1772605469395825,1.066012728949817]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_6","position":[0.5301484069269524,1.7356303862022169,0.71338606911949],"aabb_xy":[[0.4990014880833693,1.6656303875154097],[0.5612953257705355,1.805630384889024]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_7","position":[0.5302546085930477,-2.195953047072642,0.71338606911949],"aabb_xy":[[0.5083648610041068,-2.285953044361891],[0.5521443561819884,-2.105953049783393]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_8","position":[-0.621133220149761,1.6257894474199648,0.71338606911949],"aabb_xy":[[-0.6851332165770829,1.5786198235978683],[-0.5571332237224391,1.6729590712420612]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_9","position":[0.36523146972113296,1.6543698755340785,0.71338606911949],"aabb_xy":[[0.3477314694617964,1.6402783333453064],[0.3827314699804697,1.6684614177228516]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_10","position":[-0.2521925606540264,-1.2195412385867177,0.71338606911949],"aabb_xy":[[-0.2746925601777337,-1.2420371860373385],[-0.2296925611303189,-1.197045291136097]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_11","position":[-0.13562959871637348,-1.9269847960095392,0.71338606911949],"aabb_xy":[[-0.14653537480393616,-2.0069847924083684],[-0.12472382262881074,-1.84698479961071]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_12","position":[-0.39328833493396803,-1.183823524708483,0.71338606911949],"aabb_xy":[[-0.4064395809052574,-1.2088235244651695],[-0.38013708896267867,-1.1588235249517964]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_13","position":[0.6784295159974663,1.363245060140653,0.71338606911949],"aabb_xy":[[0.6724629770567305,1.3572839154812888],[0.684396054938202,1.369206204800017]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_14","position":[-0.6207151165449536,-0.1129750831275631,0.71338606911949],"aabb_xy":[[-0.640773528158194,-0.13304017003672064],[-0.6006567049317134,-0.09290999621840558]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_15","position":[0.32104664926716153,-2.300137952639277,0.71338606911949],"aabb_xy":[[0.3034683470782147,-2.317712442213382],[0.3386249514561084,-2.282563463065172]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_16","position":[-0.35363343817090753,-2.3494712879321913,0.71338606911949],"aabb_xy":[[-0.4176334354732539,-2.393837714900048],[-0.2896334408685611,-2.3051048609643345]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_17","position":[-0.44360336984128745,0.23709772485154268,0.71338606911949],"aabb_xy":[[-0.4686033697738054,0.2302150566306194],[-0.4186033699087696,0.24398039307246602]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_18","position":[-0.17928923780259864,0.8414595258064264,0.71338606911949],"aabb_xy":[[-0.22709540541636727,0.7764595230993674],[-0.13148307018883,0.9064595285134853]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_19","position":[0.17121147630231526,-0.7250648624506415,0.71338606911949],"aabb_xy":[[0.09121147303830215,-0.7386248947595548],[0.2512114795663284,-0.7115048301417282]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_20","position":[-0.5299941418914531,-1.2475399641117895,0.71338606911949],"aabb_xy":[[-0.539750131400627,-1.257302498171024],[-0.5202381523822792,-1.237777430052555]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_21","position":[-0.6563361786214039,0.07522006806957293,0.71338606911949],"aabb_xy":[[-0.6745420022826516,0.06419466748758129],[-0.6381303549601562,0.08624546865156457]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_22","position":[0.10539018639806697,-1.8463310704494549,0.71338606911949],"aabb_xy":[[0.09739619782036356,-1.8543311505445452],[0.11338417497577034,-1.8383309903543645]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_23","position":[0.09200521456886013,1.0851425202065652,0.71338606911949],"aabb_xy":[[0.042005215128664494,1.0351745957222487],[0.14200521400905575,1.1351104446908813]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_24","position":[-0.1564690863816961,0.5580520378537366,0.71338606911949],"aabb_xy":[[-0.18990926157771565,0.5246084120228064],[-0.12302891118567645,0.5914956636846666]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_25","position":[0.40002515192388155,-1.0108337740054643,0.71338606911949],"aabb_xy":[[0.36299104249582176,-1.0452109813391737],[0.43705926135194123,-0.9764565666717548]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_26","position":[0.4632790836379652,0.5939623764800332,0.71338606911949],"aabb_xy":[[0.4420010754944929,0.5289623741539602],[0.4845570917814374,0.6589623788061063]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_27","position":[-0.4766220280861483,-2.2289791340965786,0.71338606911949],"aabb_xy":[[-0.4853199903768637,-2.2411041084040533],[-0.4679240657954331,-2.216854159789104]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_28","position":[-0.25884743985093095,-0.23862154042063155,0.71338606911949],"aabb_xy":[[-0.29617871637617355,-0.27327459521548386],[-0.22151616332568833,-0.20396848562577924]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_29","position":[-0.1231975121221115,1.338466304363819,0.71338606911949],"aabb_xy":[[-0.13784091767614448,1.3238075847070347],[-0.10855410656807851,1.3531250240206032]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_30","position":[-0.5422486483173524,-2.05355464963859,0.71338606911949],"aabb_xy":[[-0.5807943411425535,-2.092100420694779],[-0.5037029554921514,-2.0150088785824014]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_31","position":[0.566705380391431,1.2030476727674349,0.71338606911949],"aabb_xy":[[0.5115801747618401,1.1430476713261473],[0.6218305860210217,1.2630476742087215]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_32","position":[0.5305823965428176,-0.38636734332689393,0.71338606911949],"aabb_xy":[[0.4705823962914164,-0.4406486683633586],[0.5905823967942188,-0.3320860182904293]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_33","position":[0.38484541171876296,-2.2533121822237625,0.71338606911949],"aabb_xy":[[0.37875078383064464,-2.2618815767754317],[0.3909400396068813,-2.2447427876720942]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_34","position":[-0.4471934981779156,-0.8794981413120948,0.71338606911949],"aabb_xy":[[-0.5271935014357585,-0.9594946491040787],[-0.36719349492007264,-0.7995016335201107]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6887889614853288,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9448.png","name":"9448"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9448.png","name":"9448"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3754.png","name":"3754"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2183.png","name":"2183"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/496.png","name":"496"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4166.png","name":"4166"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":735.4906120646563,"rotation_z_degrees":241.80329523597484,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013961942145054331,0.01169578590894586,0.016016321427485315]},{"name":"camera_2","offset_m":[-0.012528330415908924,0.009015597662583228,-0.008637102671617014]},{"name":"camera_3","offset_m":[-0.0035803887937138866,-0.018929287726391054,0.005088266334368846]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0016562494829690548,-0.0016057331664863829,0.0010495038578055213],"end_effector_yaw_offset_degrees":0.665881322424742},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00016282601563739852,-0.0015613598739203588,-9.705089421967639e-05],"end_effector_yaw_offset_degrees":-0.7001443012504953},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001497250160462598,0.0006656319428783083,0.0006303198909011491],"end_effector_yaw_offset_degrees":-0.8108917548943151}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00346491947273616,0.00309647545031642],"position_m":[0.27543508052726384,-0.11460352454968357,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002384167497864468,-0.0016499491265204325],"position_m":[0.22411583250213554,-0.41084994912652045,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0002488606435634968,0.0013462703469061454],"position_m":[0.3528488606435635,0.06734627034690614,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003838449266273376,-0.0009039566823299009],"position_m":[0.33836155073372665,0.3229960433176701,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"03ad42cf98cf6d8fdf5455e002c07fc33a8a68b8dcfd75988ff02f3a09c85465","episode_index":90,"episode_name":"episode_0090"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0090.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_9448/tex_ceiling_textures_4166/tex_floor_textures_496/tex_table_textures_3754/tex_wall_textures_2183","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":3711880211855497002,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":3711880211855497002,"visual_seed":3711880211855497002,"scene_id":"lab_003","finished_at":"2026-09-04T03:44:55"} +{"episode_id":"ep_000091","started_at":"2026-09-04T03:44:58","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_0","position":[0.13053433125740455,1.159262997543478,0.71338606911949],"aabb_xy":[[0.07553433305565972,1.1187410309170405],[0.18553432945914938,1.1997849641699156]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_1","position":[0.20057906212335574,-1.9697370551600613,0.71338606911949],"aabb_xy":[[0.15057906083951575,-2.0197159095506834],[0.25057906340719566,-1.9197582007694391]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_2","position":[0.23214820751952847,0.786613716724279,0.71338606911949],"aabb_xy":[[0.20964820750938018,0.7725174970846757],[0.25464820752967676,0.8007099363638822]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_3","position":[0.5380512393208101,-2.081759943979048,0.71338606911949],"aabb_xy":[[0.5034601564667648,-2.1467599442640783],[0.5726423221748552,-2.0167599436940162]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_4","position":[-0.3708412871539712,-0.7661600079598117,0.71338606911949],"aabb_xy":[[-0.40834128709773765,-0.7744530979946481],[-0.33334128721020484,-0.757866917924975]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_5","position":[-0.11678423926033177,-1.6217651571947733,0.71338606911949],"aabb_xy":[[-0.1392490092317369,-1.6442651580736338],[-0.09431946928892665,-1.5992651563159128]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_6","position":[-0.5242041917286795,1.5790045639159156,0.71338606911949],"aabb_xy":[[-0.5417508866447984,1.5415045623516643],[-0.5066574968125606,1.6165045654801669]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_7","position":[0.44911456403469385,0.954655698145022,0.71338606911949],"aabb_xy":[[0.44378204938008087,0.9493313698997866],[0.45444707868930684,0.9599800263902577]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_8","position":[-0.6121402905625545,-2.2387276948990142,0.71338606911949],"aabb_xy":[[-0.6571328772810049,-2.283727694173463],[-0.5671477038441041,-2.1937276956245655]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_9","position":[-0.46225113391958517,-0.3857957327316859,0.71338606911949],"aabb_xy":[[-0.507251135385814,-0.4307955895931666],[-0.4172511324533563,-0.3407958758702052]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_10","position":[-0.5405359030685867,0.028349555518070613,0.71338606911949],"aabb_xy":[[-0.5905359025087823,-0.021618368966245693],[-0.49053590362839106,0.07831748000238692]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_11","position":[-0.009618592374036172,0.366266859205858,0.71338606911949],"aabb_xy":[[-0.013696750281085912,0.3621858789575947],[-0.0055404344669864325,0.3703478394541213]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_12","position":[-0.48675508900948083,0.4076934735727664,0.71338606911949],"aabb_xy":[[-0.5103402124733758,0.3426934713273347],[-0.46316996554558604,0.47269347581819826]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_13","position":[-0.652794051090132,1.2045525808052941,0.71338606911949],"aabb_xy":[[-0.6752940516021726,1.1820607224398958],[-0.6302940505780914,1.2270444391706925]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_14","position":[-0.00030373136164929537,0.8796856139753317,0.71338606911949],"aabb_xy":[[-0.01817283911610479,0.8658527059981207],[0.017565376392806198,0.8935185219525426]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_15","position":[0.3816218207247346,-1.9764653310240825,0.71338606911949],"aabb_xy":[[0.3116218191224551,-1.98989812422574],[0.4516218223270141,-1.963032537822425]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_16","position":[-0.041224322387085954,-0.8204881503768686,0.71338606911949],"aabb_xy":[[-0.04848556995749337,-0.8332751606403782],[-0.03396307481667854,-0.8077011401133593]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_17","position":[0.5840239463291332,1.1228491390245359,0.71338606911949],"aabb_xy":[[0.5615102545056759,1.0528491384235281],[0.6065376381525903,1.1928491396255432]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_18","position":[0.28196923550043473,1.0943295932920227,0.71338606911949],"aabb_xy":[[0.2739752469227313,1.0863295131969322],[0.28996322407813807,1.1023296733871129]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_19","position":[-0.12577880010517295,1.0548674020109328,0.71338606911949],"aabb_xy":[[-0.1857788003565741,1.000586076974468],[-0.06577879985377175,1.1091487270473974]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_20","position":[-0.3915635023010195,1.2996298934586727,0.71338606911949],"aabb_xy":[[-0.4328123133309342,1.2446298939464548],[-0.3503146912711047,1.3546298929708898]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_21","position":[0.4371302485203541,1.2734123784092897,0.71338606911949],"aabb_xy":[[0.37713024867378725,1.216593756216251],[0.4971302483669208,1.3302310006023284]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_22","position":[0.6364170314192048,-0.45395590200058944,0.71338606911949],"aabb_xy":[[0.618838729230258,-0.47153039157469434],[0.6539953336081517,-0.43638141242648454]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_23","position":[-0.3846680378588745,0.7121699120718641,0.71338606911949],"aabb_xy":[[-0.39623701860581106,0.6871699119549325],[-0.3730990571119379,0.7371699121887959]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_24","position":[0.3451489467887112,-1.641039901393965,0.71338606911949],"aabb_xy":[[0.29515583467951934,-1.6910399020681608],[0.39514205889790316,-1.5910399007197695]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6966834823287462,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6880.png","name":"6880"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6880.png","name":"6880"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3234.png","name":"3234"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4664.png","name":"4664"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8749.png","name":"8749"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9914.png","name":"9914"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":504.2409845801879,"rotation_z_degrees":18.98709912775685,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01865845834250004,0.008706581472745611,0.002467204289104852]},{"name":"camera_2","offset_m":[0.004651195981158315,-0.016783689775398524,-0.007857100564272104]},{"name":"camera_3","offset_m":[0.018359931920664357,-0.017934275591553785,0.0005036349992653642]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-9.004419398892026e-05,-0.0008492538441795424,-0.0007035767240769694],"end_effector_yaw_offset_degrees":-0.17911554088094084},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013422406466769448,0.0017757864813720456,-0.0005707570231938571],"end_effector_yaw_offset_degrees":0.40781254550615786},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015738103527179262,-0.001383397763821003,-0.001657915700443025],"end_effector_yaw_offset_degrees":-0.08220007658467976}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0043866021538845655,-0.0032833318647507385],"position_m":[0.2745133978461154,-0.12098333186475074,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-8.55315355798832e-05,-0.00059371886512769],"position_m":[0.22641446846442012,-0.4097937188651277,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002512716678335154,-0.0018553467832523097],"position_m":[0.3500872833216649,0.0641446532167477,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004022478395414661,0.0011195662528968118],"position_m":[0.34622247839541465,0.32501956625289685,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2702dac8d9b1831f4da0c1004efb113e61becd0f47bb347015ed206e618c9504","episode_index":91,"episode_name":"episode_0091"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0091.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6880/tex_ceiling_textures_9914/tex_floor_textures_8749/tex_table_textures_3234/tex_wall_textures_4664","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":7725783563587193180,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":7725783563587193180,"visual_seed":7725783563587193180,"scene_id":"lab_003","finished_at":"2026-09-04T03:47:47"} +{"episode_id":"ep_000092","started_at":"2026-09-04T03:47:50","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_0","position":[-0.5917665221168514,-1.9024285686973799,0.71338606911949],"aabb_xy":[[-0.6617665247534377,-1.9225334336932451],[-0.521766519480265,-1.8823237037015141]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_1","position":[-0.5843588797044118,0.4585662549287446,0.71338606911949],"aabb_xy":[[-0.6743588764400219,0.40538279161144997],[-0.4943588829688015,0.511749718246039]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_2","position":[-0.5744080358434707,1.612422350112261,0.71338606911949],"aabb_xy":[[-0.6284236321253706,1.5484223472200036],[-0.5203924395615706,1.676422353004518]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_3","position":[0.38773511717168074,-2.1649189656954877,0.71338606911949],"aabb_xy":[[0.3742885905376374,-2.178388817348579],[0.4011816438057241,-2.1514491140423964]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_4","position":[0.02346504794855342,1.6810078710297582,0.71338606911949],"aabb_xy":[[-0.011534950321566487,1.6739337433347696],[0.05846504621867332,1.688081998724746]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_5","position":[0.12004089969302612,0.6686685019823617,0.71338606911949],"aabb_xy":[[0.07504831297457572,0.623668502707913],[0.16503348641147653,0.7136685012568105]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_6","position":[0.6342799996935014,-1.0651771225211681,0.71338606911949],"aabb_xy":[[0.5702800032661794,-1.1123467463432646],[0.6982799961208233,-1.0180074986990717]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_7","position":[-0.43866318572643015,-1.7458665964938607,0.71338606911949],"aabb_xy":[[-0.46055293331537095,-1.8358665937831098],[-0.41677343813748935,-1.6558665992046115]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_8","position":[0.6316057156656794,-1.7809503288317918,0.71338606911949],"aabb_xy":[[0.5844763366638436,-1.8449503298761936],[0.6787350946675149,-1.7169503277873897]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_9","position":[0.5474171335639826,-0.8253665692682546,0.71338606911949],"aabb_xy":[[0.4897866646767115,-0.885366568194965],[0.6050476024512532,-0.7653665703415438]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_10","position":[-0.3011589060482224,-2.266736118922086,0.71338606911949],"aabb_xy":[[-0.3711589024581841,-2.2871740545737667],[-0.23115890963826055,-2.246298183270403]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_11","position":[-0.28094861680468036,-0.31296271354830507,0.71338606911949],"aabb_xy":[[-0.2928206998161815,-0.3979627132419554],[-0.26907653379317925,-0.22796271385465472]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_12","position":[-0.12667079821803318,0.34606881337593887,0.71338606911949],"aabb_xy":[[-0.13708235689851686,0.3407230800400403],[-0.11625923953754944,0.3514145467118373]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_13","position":[-0.3946546105876723,1.4948056033224995,0.71338606911949],"aabb_xy":[[-0.45465461144848507,1.4433791733160128],[-0.33465460972685945,1.5462320333289856]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_14","position":[0.13305822631842257,1.4438465221117904,0.71338606911949],"aabb_xy":[[0.07305822581056966,1.386999788425869],[0.1930582268262755,1.5006932557977115]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_15","position":[0.18072355634395554,1.7737208167576566,0.71338606911949],"aabb_xy":[[0.1157235577868827,1.743968283343774],[0.24572355490102837,1.8034733501715392]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_16","position":[-0.03110221990680162,-1.0995026532980687,0.71338606911949],"aabb_xy":[[-0.0950979173018982,-1.1635026515987774],[0.03289347748829497,-1.03550265499736]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_17","position":[-0.19219601827316657,-0.6455613623980057,0.71338606911949],"aabb_xy":[[-0.20344107384378438,-0.6568031601221008],[-0.1809509627025487,-0.6343195646739103]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_18","position":[-0.07905926437465727,0.45755564005095595,0.71338606911949],"aabb_xy":[[-0.11655926448025021,0.45073347819797477],[-0.041559264269064304,0.464377801903937]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_19","position":[-0.07123622254182194,-0.8196795708469156,0.71338606911949],"aabb_xy":[[-0.12622847317733288,-0.8746795725902284],[-0.016243971906310984,-0.7646795691036029]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_20","position":[0.49702340399624934,-1.996179386603269,0.71338606911949],"aabb_xy":[[0.4170234054089299,-2.07549498854143],[0.5770234025835688,-1.9168637846651084]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_21","position":[0.6036251562627184,-0.6276861212111793,0.71338606911949],"aabb_xy":[[0.5186251578452952,-0.7125604166734644],[0.6886251546801416,-0.5428118257488944]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_22","position":[-0.35060025690385094,-1.5246098388960205,0.71338606911949],"aabb_xy":[[-0.430600255560737,-1.5391146978202834],[-0.270600258246965,-1.5101049799717576]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_23","position":[0.04235762180852731,-1.3863856848530793,0.71338606911949],"aabb_xy":[[0.0073576226157090405,-1.3973527308507416],[0.07735762100134558,-1.3754186388554166]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_24","position":[-0.5094721317223733,-0.8852458284353308,0.71338606911949],"aabb_xy":[[-0.5134326154921076,-0.8929136930208514],[-0.5055116479526389,-0.8775779638498102]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_25","position":[0.3376705853438984,0.6673469292225964,0.71338606911949],"aabb_xy":[[0.3033736743261577,0.633050043012655],[0.37196749636163895,0.7016438154325376]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_26","position":[-0.5239103310529225,1.2078536647705689,0.71338606911949],"aabb_xy":[[-0.5321248761686063,1.199177074472927],[-0.5156957859372383,1.2165302550682098]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_27","position":[-0.42858100356402345,-2.0843349959080073,0.71338606911949],"aabb_xy":[[-0.46988554662775944,-2.1483349954761244],[-0.38727646050028747,-2.02033499633989]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_28","position":[0.23378218191797018,-0.7082389975686307,0.71338606911949],"aabb_xy":[[0.22242044726468405,-0.7196074639749187],[0.24514391657125637,-0.6968705311623425]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.69341529765732,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7471.png","name":"7471"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7471.png","name":"7471"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3386.png","name":"3386"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4734.png","name":"4734"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2209.png","name":"2209"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5641.png","name":"5641"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":767.6114281631939,"rotation_z_degrees":68.09790604178595,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016622713889837357,-0.0022956625527255255,0.019460669982123185]},{"name":"camera_2","offset_m":[0.006634915207108207,-0.0011764874835836873,-0.012898392330117803]},{"name":"camera_3","offset_m":[-0.0010976281818065592,-0.009589444013188491,0.012875412802602747]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0016725156440027993,0.00023573873583212276,0.0006417491203404742],"end_effector_yaw_offset_degrees":-0.5784970419150832},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018715824063238093,-0.0015222456338330596,0.001620261859920378],"end_effector_yaw_offset_degrees":0.3623452802011613},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00013282914571059387,-0.0017495572157187364,-0.0017797647561047917],"end_effector_yaw_offset_degrees":-0.6277658980678966}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004165341359908981,0.0049156463284041165],"position_m":[0.274734658640091,-0.11278435367159588,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0013791813338520664,0.0013393932548010868],"position_m":[0.22512081866614794,-0.4078606067451989,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0034721927487034393,0.0020697016476650563],"position_m":[0.35607219274870344,0.06806970164766506,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0026637255623968023,-0.0033265126072104037],"position_m":[0.3448637255623968,0.3205734873927896,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"97bbd631c33df0624cef855a4496d9ac598900ceba8576626b808752ae232188","episode_index":92,"episode_name":"episode_0092"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0092.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_7471/tex_ceiling_textures_5641/tex_floor_textures_2209/tex_table_textures_3386/tex_wall_textures_4734","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":6161994416254814048,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":6161994416254814048,"visual_seed":6161994416254814048,"scene_id":"lab_003","finished_at":"2026-09-04T03:50:37"} +{"episode_id":"ep_000093","started_at":"2026-09-04T03:50:44","dimensions":{"distractor":{"count":34,"items":[{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_0","position":[0.31371625226348754,0.8238120090784049,0.71338606911949],"aabb_xy":[[0.288716252711749,0.8136695252132701],[0.33871625181522597,0.8339544929435395]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_1","position":[0.6304669539649752,-0.6139924284459242,0.71338606911949],"aabb_xy":[[0.5504669536913681,-0.6869419762716409],[0.7104669542385821,-0.5410428806202074]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_2","position":[-0.5056790271254771,-2.332512813308122,0.71338606911949],"aabb_xy":[[-0.595679025719947,-2.348763399621543],[-0.41567902853100713,-2.3162622269947013]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_3","position":[0.1056797396570649,1.419711423029638,0.71338606911949],"aabb_xy":[[0.09483926143054998,1.402525141738989],[0.11652021788357979,1.4368977043202864]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_4","position":[0.3837223188224652,0.6264491182490208,0.71338606911949],"aabb_xy":[[0.37492026351349245,0.6186377920940916],[0.39252437413143787,0.6342604444039498]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_5","position":[-0.1753864352270097,1.7560670256865136,0.71338606911949],"aabb_xy":[[-0.18148106311512802,1.747497631134845],[-0.16929180733889138,1.7646364202381823]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_6","position":[-0.3774857639998075,1.0446740560200327,0.71338606911949],"aabb_xy":[[-0.4671728403079229,0.954674055765582],[-0.287798687691692,1.134674056274483]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_7","position":[-0.2573265212598567,0.10133727933907632,0.71338606911949],"aabb_xy":[[-0.2948265198354775,0.08860098367551839],[-0.2198265226842359,0.11407357500263426]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_8","position":[0.3372186613635877,1.1883767255662403,0.71338606911949],"aabb_xy":[[0.31470496954013044,1.1183767249652325],[0.35973235318704483,1.2583767261672476]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_9","position":[0.5616947131539363,-2.1783576333911183,0.71338606911949],"aabb_xy":[[0.5117159046436203,-2.2283576333968367],[0.611673521664252,-2.128357633385399]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_10","position":[0.328245526021574,-2.2514621054830424,0.71338606911949],"aabb_xy":[[0.3057455262076716,-2.255936721853523],[0.35074552583547636,-2.246987489112562]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_11","position":[-0.601603727870015,-1.2342643252617542,0.71338606911949],"aabb_xy":[[-0.6866037262874383,-1.3191386207240392],[-0.5166037294525918,-1.1493900297994692]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_12","position":[-0.36208166025867916,-0.6198756859764787,0.71338606911949],"aabb_xy":[[-0.42608166193667646,-0.6683930774557929],[-0.29808165858068175,-0.5713582944971645]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_13","position":[-0.4811441090025099,0.6381113195081665,0.71338606911949],"aabb_xy":[[-0.4957875145565429,0.6234525998513822],[-0.46650070344847694,0.6527700391649507]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_14","position":[-0.5474338947779355,1.4012174854867236,0.71338606911949],"aabb_xy":[[-0.6024076168142685,1.3462174859224905],[-0.4924601727416027,1.4562174850509568]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_15","position":[0.4664821530818337,-1.8931801400896529,0.71338606911949],"aabb_xy":[[0.41648215364163804,-1.9431480645739687],[0.5164821525220293,-1.843212215605336]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_16","position":[-0.04806710972962125,1.2936559270885981,0.71338606911949],"aabb_xy":[[-0.08398061415461093,1.2577424188718436],[-0.012153605304631568,1.3295694353053527]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_17","position":[0.014540595791852629,-0.9567455241341529,0.71338606911949],"aabb_xy":[[-0.05045940684594086,-1.0082251228335999],[0.07954059842964611,-0.905265925434706]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_18","position":[0.1036763015096619,1.7475300545297645,0.71338606911949],"aabb_xy":[[0.06937939049192125,1.713233168319823],[0.13797321252740252,1.7818269407397056]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_19","position":[0.47839888960200727,1.296897005775811,0.71338606911949],"aabb_xy":[[0.42841465389383004,1.2468970069623153],[0.5283831253101845,1.3468970045893065]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_20","position":[-0.10583369020899214,-2.217582940213148,0.71338606911949],"aabb_xy":[[-0.17583369181127162,-2.2310157334148055],[-0.03583368860671267,-2.2041501470114904]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_21","position":[0.47231421286886555,-1.4967523752565903,0.71338606911949],"aabb_xy":[[0.4223142142229443,-1.5466719189160527],[0.5223142115147867,-1.446832831597128]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_22","position":[0.11179584373424911,-0.7166551601885518,0.71338606911949],"aabb_xy":[[0.08395080695364199,-0.7474396589268635],[0.13964088051485624,-0.6858706614502401]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_23","position":[0.604874305673528,0.6958982947076944,0.71338606911949],"aabb_xy":[[0.5879635732371861,0.6824260891150798],[0.6217850381098696,0.7093705003003089]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_24","position":[0.38404955036031274,1.5029660497236255,0.71338606911949],"aabb_xy":[[0.3290495521585679,1.4624440830971879],[0.4390495485620576,1.543488016350063]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_25","position":[0.568870568030879,0.5307950174289231,0.71338606911949],"aabb_xy":[[0.48514834253079653,0.44079501389422704],[0.6525927935309614,0.6207950209636189]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_26","position":[-0.23380126802689943,-0.9682864398917541,0.71338606911949],"aabb_xy":[[-0.28879674584755877,-1.023286441325661],[-0.17880579020624,-0.9132864384578471]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_27","position":[-0.08285075642998119,-0.29474966074416775,0.71338606911949],"aabb_xy":[[-0.1203507579456129,-0.3059764337603128],[-0.04535075491434948,-0.2835228877280227]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_28","position":[-0.5734300400717295,1.2597741797634305,0.71338606911949],"aabb_xy":[[-0.5842816463206051,1.2489148890357795],[-0.5625784338228539,1.2706334704910816]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_29","position":[0.5187442194134486,0.21104112987106127,0.71338606911949],"aabb_xy":[[0.4759775125340284,0.14704112644925882],[0.5615109262928688,0.2750411332928637]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_30","position":[0.4346919645528544,-2.4850089715411574,0.71338606911949],"aabb_xy":[[0.3795667589232636,-2.545008972982444],[0.48981717018244514,-2.42500897009987]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_31","position":[-0.48210935774808683,-0.1674556681332926,0.71338606911949],"aabb_xy":[[-0.5461093541754088,-0.21462529195538907],[-0.41810936132076504,-0.12028604431119619]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_32","position":[0.38207404570550074,1.637022052983927,0.71338606911949],"aabb_xy":[[0.34457404452070794,1.6326038302878663],[0.41957404689029354,1.6414402756799873]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_33","position":[-0.22218592839034867,0.9578413238989354,0.71338606911949],"aabb_xy":[[-0.22708522069691212,0.9301644045963666],[-0.21728663608378512,0.9855182432015042]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6955897533791545,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1742.png","name":"1742"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1742.png","name":"1742"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8710.png","name":"8710"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3245.png","name":"3245"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3818.png","name":"3818"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5735.png","name":"5735"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":789.8530396761229,"rotation_z_degrees":65.88584800945627,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0032000768255667916,-0.014314511838180177,-0.019916061843986716]},{"name":"camera_2","offset_m":[0.003050917216018516,0.019137705389842868,-0.011940529610193679]},{"name":"camera_3","offset_m":[0.017214377740943577,-0.007399249714961184,0.015796098881209874]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-2.028550376745146e-05,0.0015548257596249325,-8.419287559013346e-05],"end_effector_yaw_offset_degrees":0.365254494898394},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018042609846367565,-0.0018693718439281902,-0.00199308735823418],"end_effector_yaw_offset_degrees":-0.2826424752150569},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000537613051411845,-0.0010269794515263841,-0.0005697968421933246],"end_effector_yaw_offset_degrees":0.33810755268927917}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0004293786861651414,0.0001624597983039544],"position_m":[0.2784706213138348,-0.11753754020169604,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.000572237881210874,-0.004471833712422847],"position_m":[0.22592776211878912,-0.41367183371242283,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0032224950423194064,-0.004822217884165638],"position_m":[0.3493775049576806,0.06117778211583436,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0030382043156763844,0.0006412820503969765],"position_m":[0.34523820431567637,0.324541282050397,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"30d04feddd7dbfbdff08f8301f989f8cc9529c7a0d2f0f78d8b56396430661b1","episode_index":93,"episode_name":"episode_0093"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0093.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_1742/tex_ceiling_textures_5735/tex_floor_textures_3818/tex_table_textures_8710/tex_wall_textures_3245","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":6542564318307970409,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":6542564318307970409,"visual_seed":6542564318307970409,"scene_id":"lab_003","finished_at":"2026-09-04T03:53:36"} +{"episode_id":"ep_000094","started_at":"2026-09-04T03:53:40","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_0","position":[-0.4302329685228022,-1.158446886809992,0.71338606911949],"aabb_xy":[[-0.48021720423097936,-1.2084468856234876],[-0.3802487328146249,-1.1084468879964964]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_1","position":[0.6402787535856791,1.2124662999242881,0.71338606911949],"aabb_xy":[[0.6309317460033839,1.1981626777066439],[0.6496257611679743,1.226769922141932]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_2","position":[0.5728755551581239,-1.0268233737090995,0.71338606911949],"aabb_xy":[[0.5088755558639556,-1.0908095140779537],[0.636875554452292,-0.9628372333402453]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_3","position":[-0.29174520497517675,-2.2082208515972455,0.71338606911949],"aabb_xy":[[-0.29973869477045884,-2.2162189835377215],[-0.2837517151798948,-2.2002227196567703]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_4","position":[-0.4597728785558721,-0.9499675454778762,0.71338606911949],"aabb_xy":[[-0.5237728758415208,-0.9914742644307203],[-0.3957728812702235,-0.9084608265250323]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_5","position":[-0.051459440867875905,1.1470135924329217,0.71338606911949],"aabb_xy":[[-0.08575635188561653,1.1127167062229801],[-0.017162529850135277,1.1813104786428628]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_6","position":[0.37259134640009894,0.42141080659726615,0.71338606911949],"aabb_xy":[[0.3475913464675811,0.41452813837634284],[0.3975913463326169,0.42829347481818947]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_7","position":[-0.2698096717399987,1.43262031203674,0.71338606911949],"aabb_xy":[[-0.278507634030714,1.4204953377292653],[-0.2611117094492834,1.4447452863442147]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_8","position":[0.649404196120128,-1.783352043362484,0.71338606911949],"aabb_xy":[[0.6269041965964205,-1.8058479908131047],[0.6719041956438353,-1.760856095911863]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_9","position":[-0.2689472241015856,-1.1660223026981558,0.71338606911949],"aabb_xy":[[-0.3150323153563171,-1.2300222999507109],[-0.22286213284685416,-1.1020223054456006]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_10","position":[0.5457578730201067,0.5572693229041361,0.71338606911949],"aabb_xy":[[0.5082578730763402,0.5489762328692995],[0.583257872963873,0.5655624129389727]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_11","position":[-0.42269848615809075,1.6702246735854005,0.71338606911949],"aabb_xy":[[-0.4332659658161898,1.6596796434723922],[-0.4121310064999918,1.6807697036984093]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_12","position":[0.32613881817063484,-0.7789656069743569,0.71338606911949],"aabb_xy":[[0.2461388201898498,-0.7865671479362089],[0.4061388161514199,-0.771364066012505]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_13","position":[-0.31815563651269335,0.1403275331157996,0.71338606911949],"aabb_xy":[[-0.40815563324830356,0.08714406979850506],[-0.22815563977708314,0.19351099643309408]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_14","position":[0.21715554103300438,1.24696077817545,0.71338606911949],"aabb_xy":[[0.1796555406847766,1.2351693825943664],[0.25465554138123214,1.2587521737565335]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_15","position":[-0.568926995864838,1.0510958889530642,0.71338606911949],"aabb_xy":[[-0.63292699791457,1.0110014058637562],[-0.504926993815106,1.0911903720423721]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_16","position":[0.42679746845228483,-0.585902474904981,0.71338606911949],"aabb_xy":[[0.4226815183402121,-0.5900180299378264],[0.43091341856435744,-0.5817869198721353]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_17","position":[0.3631100017741027,-1.688747145959193,0.71338606911949],"aabb_xy":[[0.3596693255340455,-1.6926085789335577],[0.36655067801415986,-1.6848857129848287]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_18","position":[-0.591795055019757,-2.2160528060650453,0.71338606911949],"aabb_xy":[[-0.6417780052072364,-2.266052805707605],[-0.5418121048322777,-2.166052806422484]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_19","position":[0.009455639918308667,-2.5324494947316496,0.71338606911949],"aabb_xy":[[0.004820524766075278,-2.536316829808798],[0.014090755070542053,-2.5285821596545004]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_20","position":[0.6727907340019108,-0.330687035753336,0.71338606911949],"aabb_xy":[[0.6608579996400826,-0.3430691885611954],[0.6847234683637388,-0.31830488294547665]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_21","position":[0.33933840011089855,-1.843566316849984,0.71338606911949],"aabb_xy":[[0.27533839689226075,-1.8902894287489924],[0.40333840332953647,-1.7968432049509757]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_22","position":[-0.3264811007776949,-1.9218117122901472,0.71338606911949],"aabb_xy":[[-0.3344043810164432,-1.9443117125281504],[-0.31855782053894655,-1.8993117120521437]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_23","position":[0.3864265774309492,1.308269939029965,0.71338606911949],"aabb_xy":[[0.35298640223492955,1.2748263131990347],[0.41986675262696876,1.3417135648608949]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_24","position":[-0.48125658820175427,1.2520256576636495,0.71338606911949],"aabb_xy":[[-0.5462565892022548,1.2012392925089745],[-0.41625658720125375,1.3028120228183244]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_25","position":[0.5985229587586463,-2.239576049961119,0.71338606911949],"aabb_xy":[[0.5816122263223044,-2.2530482555537326],[0.6154336911949879,-2.2261038443685033]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_26","position":[0.08715700223310663,-2.092151178454737,0.71338606911949],"aabb_xy":[[0.007157003576220608,-2.106656037379],[0.16715700088999264,-2.077646319530474]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_27","position":[-0.26953816616418336,0.5288534546958155,0.71338606911949],"aabb_xy":[[-0.29203816640769875,0.5166488200360435],[-0.24703816592066796,0.5410580893555874]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_28","position":[0.014606592047927691,-1.4215289620163236,0.71338606911949],"aabb_xy":[[-0.045393408203473484,-1.4758102870527883],[0.07460659229932887,-1.367247636979859]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_29","position":[-0.0056237627778987775,-1.7738782403791324,0.71338606911949],"aabb_xy":[[-0.060623761954488264,-1.8288679151540899],[0.04937623639869071,-1.7188885656041746]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_30","position":[-0.5646078537302255,0.5825698490974447,0.71338606911949],"aabb_xy":[[-0.6096078551964543,0.537569992235964],[-0.5196078522639966,0.6275697059589254]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_31","position":[-0.44271139600794945,-0.7971321658236195,0.71338606911949],"aabb_xy":[[-0.4771737434060912,-0.831626048221442],[-0.4082490486098076,-0.7626382834257966]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_32","position":[-0.5462684121235895,-0.09112505750310396,0.71338606911949],"aabb_xy":[[-0.566552714846988,-0.1114076826458128],[-0.5259841094001905,-0.07084243236039511]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6899697169875941,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3484.png","name":"3484"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3484.png","name":"3484"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6817.png","name":"6817"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/989.png","name":"989"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3394.png","name":"3394"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2134.png","name":"2134"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":663.7377014744305,"rotation_z_degrees":76.0497604171624,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018229397733746204,-0.006078285764404043,-0.00664255282315878]},{"name":"camera_2","offset_m":[-0.004256769481228887,0.009024491277097244,0.014838811074974301]},{"name":"camera_3","offset_m":[-0.01911409671523743,0.013640471181322177,0.008267827145402237]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0003425882568644876,-0.0011100387938685272,-0.0017436308106909206],"end_effector_yaw_offset_degrees":0.35716366119224907},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006764751749789798,-0.0003446962250493741,-0.0019968930132863824],"end_effector_yaw_offset_degrees":-0.030826525426544293},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0012215679832393066,-4.072186832409716e-05,0.0005760587330211611],"end_effector_yaw_offset_degrees":0.7393786633890955}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003908789528765666,-0.00025522688359245864],"position_m":[0.2749912104712343,-0.11795522688359246,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0011440063905258104,1.9865233334141058e-05],"position_m":[0.2253559936094742,-0.40918013476666587,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0011884097585365986,0.0015457019211600528],"position_m":[0.35378840975853665,0.06754570192116005,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0030472331889979144,0.00012330776572391702],"position_m":[0.3391527668110021,0.3240233077657239,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8d040fe20f643070aaf0c99864640ab52c821ee035e5d2ecfefc118a8922f939","episode_index":94,"episode_name":"episode_0094"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0094.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_3484/tex_ceiling_textures_2134/tex_floor_textures_3394/tex_table_textures_6817/tex_wall_textures_989","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":5562022930009384935,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":5562022930009384935,"visual_seed":5562022930009384935,"scene_id":"lab_003","finished_at":"2026-09-04T03:56:27"} +{"episode_id":"ep_000095","started_at":"2026-09-04T03:56:30","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_0","position":[-0.15439171236382676,-0.534670138139036,0.71338606911949],"aabb_xy":[[-0.1626062574795107,-0.5433467284366771],[-0.14617716724814275,-0.5259935478413944]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_1","position":[0.5372488123544232,-1.281663398838056,0.71338606911949],"aabb_xy":[[0.514784042383018,-1.3041633997169162],[0.5597135823258282,-1.2591633979591952]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_2","position":[-0.6704784558932421,0.20166478877966743,0.71338606911949],"aabb_xy":[[-0.6855807573542599,0.18656326714860558],[-0.6553761544322237,0.21676631041072922]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_3","position":[-0.5285881596488344,-1.8276552128102161,0.71338606911949],"aabb_xy":[[-0.5620283348448539,-1.8610988386411458],[-0.49514798445281477,-1.7942115869792856]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_4","position":[0.16432364521893317,-1.8956153982506634,0.71338606911949],"aabb_xy":[[0.16062038388979427,-1.8993174165593811],[0.168026906548072,-1.8919133799419456]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_5","position":[0.19513207488440654,0.75431314596764,0.71338606911949],"aabb_xy":[[0.18250528759721021,0.7447670722660671],[0.20775886217160291,0.7638592196692129]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_6","position":[-0.1572553037679718,1.050512793434112,0.71338606911949],"aabb_xy":[[-0.22125530698660967,1.0037896815351037],[-0.09325530054933395,1.0972359053331204]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_7","position":[-0.495211200382779,-1.3177132058839898,0.71338606911949],"aabb_xy":[[-0.5065729350360652,-1.3290816722902776],[-0.48384946572949283,-1.3063447394777015]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_8","position":[0.12068247231415363,-1.5656383282423663,0.71338606911949],"aabb_xy":[[0.11340015593748995,-1.6556383318518748],[0.12796478869081723,-1.4756383246328568]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_9","position":[-0.5216795563997187,-2.335018770661859,0.71338606911949],"aabb_xy":[[-0.5313111926201483,-2.344656083441568],[-0.512047920179289,-2.32538145788215]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_10","position":[-0.3876664848259234,-1.1182492402802633,0.71338606911949],"aabb_xy":[[-0.43043319170534367,-1.1822492437020657],[-0.3448997779465033,-1.0542492368584608]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_11","position":[0.62768737856092,-0.2501672899456522,0.71338606911949],"aabb_xy":[[0.5676873769179982,-0.30216743923759637],[0.6876873802038419,-0.198167140653708]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_12","position":[-0.27863524590384153,-2.227881744661438,0.71338606911949],"aabb_xy":[[-0.2917864918751309,-2.252881744418125],[-0.2654839999325522,-2.2028817449047517]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_13","position":[-0.3695331416624237,1.8211420390214061,0.71338606911949],"aabb_xy":[[-0.3736112995694734,1.8170610587731424],[-0.36545498375537394,1.825223019269669]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_14","position":[0.352088405911263,-0.6028288272273994,0.71338606911949],"aabb_xy":[[0.3234390735508468,-0.6314743865044751],[0.3807377382716792,-0.5741832679503235]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_15","position":[-0.2910795982943456,-0.15944506123957547,0.71338606911949],"aabb_xy":[[-0.31357959853786105,-0.17164969589934742],[-0.26857959805083026,-0.14724042657980352]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_16","position":[-0.4166777194922052,-1.5575993372000332,0.71338606911949],"aabb_xy":[[-0.4512688023462504,-1.6225993374850638],[-0.38208663663815995,-1.4925993369150017]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_17","position":[-0.2188080746383282,-1.3010851012356979,0.71338606911949],"aabb_xy":[[-0.2563080761539599,-1.3123118742518427],[-0.18130807312269645,-1.2898583282195526]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_18","position":[-0.038055282115375455,-1.5596926879173687,0.71338606911949],"aabb_xy":[[-0.08753570332933425,-1.6236926858302207],[0.011425139098583337,-1.495692690004517]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_19","position":[0.457235603524627,1.4546620223163313,0.71338606911949],"aabb_xy":[[0.43395376132649555,1.369662021019103],[0.48051744572275823,1.5396620236135592]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_20","position":[-0.31283366865139084,1.547734186906768,0.71338606911949],"aabb_xy":[[-0.37783366868569357,1.501033510226441],[-0.2478336686170881,1.5944348635870955]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_21","position":[0.6932831919222995,1.7054346953860349,0.71338606911949],"aabb_xy":[[0.6868693782791145,1.699024875138366],[0.6996970055654844,1.7118445156337028]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_22","position":[-0.49668803700456754,0.24315859944325924,0.71338606911949],"aabb_xy":[[-0.5518132426341582,0.18315859800197204],[-0.4415628313749767,0.30315860088454627]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_23","position":[0.7161084482186035,-0.5244163455667361,0.71338606911949],"aabb_xy":[[0.7073272210713675,-0.5331960928552664],[0.72488967536584,-0.5156365982782061]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_24","position":[-0.3948485058508341,-0.7690825354259339,0.71338606911949],"aabb_xy":[[-0.48484850818485314,-0.8465648900110464],[-0.30484850351681503,-0.6916001808408211]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_25","position":[-0.16684541769902828,-1.1344086633919772,0.71338606911949],"aabb_xy":[[-0.1802919443330716,-1.147878515045068],[-0.15339889106498494,-1.1209388117388859]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_26","position":[0.1455119550689401,1.4149003700717544,0.71338606911949],"aabb_xy":[[0.08051195406843956,1.3641140049170795],[0.2105119560694406,1.4656867352264293]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_27","position":[-0.48934776991828866,-0.4817790124906023,0.71338606911949],"aabb_xy":[[-0.553347770621758,-0.5277973949635233],[-0.42534776921481937,-0.43576063001768134]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6882619945243037,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/999.png","name":"999"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/999.png","name":"999"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/181.png","name":"181"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/244.png","name":"244"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3835.png","name":"3835"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5231.png","name":"5231"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":768.373871294524,"rotation_z_degrees":290.13282535563707,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01859352685960256,-0.01323212803784752,0.007302426730776818]},{"name":"camera_2","offset_m":[0.005700587059929974,-0.011538305726416983,0.018085364631581616]},{"name":"camera_3","offset_m":[0.01039389564556022,0.01128840396973584,-0.011051258665073137]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011013203790963956,-0.0014631629223878346,-0.0015066259796345845],"end_effector_yaw_offset_degrees":-0.701687072613697},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001935262639569773,-0.0014012248074983438,-0.0019485647109983792],"end_effector_yaw_offset_degrees":-0.3575987201568249},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007014087805955222,-0.0005016590681840207,0.0005324794125505482],"end_effector_yaw_offset_degrees":0.9518758410015342}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0039016827857545414,-0.0008945148980560383],"position_m":[0.27499831721424545,-0.11859451489805603,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0025930387611696228,-0.0011484940256783448],"position_m":[0.2239069612388304,-0.41034849402567836,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004738718831109286,-0.002976931319598116],"position_m":[0.34786128116889076,0.06302306868040189,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004388645478737981,-0.000991472117281158],"position_m":[0.33781135452126204,0.32290852788271884,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1e61eb3ab89e33725e523fa2eb19c5a568e633bc7fb2333532ed2c059a08a85f","episode_index":95,"episode_name":"episode_0095"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0095.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_999/tex_ceiling_textures_5231/tex_floor_textures_3835/tex_table_textures_181/tex_wall_textures_244","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":6044767519330853429,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":6044767519330853429,"visual_seed":6044767519330853429,"scene_id":"lab_003","finished_at":"2026-09-04T03:59:16"} +{"episode_id":"ep_000096","started_at":"2026-09-04T03:59:18","dimensions":{"distractor":{"count":31,"items":[{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_0","position":[-0.22830313276152314,1.7352071811081689,0.71338606911949],"aabb_xy":[[-0.31830313248469727,1.7121338285729888],[-0.13830313303834893,1.7582805336433485]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_1","position":[0.6254243412446436,0.5660197399410203,0.71338606911949],"aabb_xy":[[0.6122730952733543,0.5410197401843337],[0.638575587215933,0.5910197396977068]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_2","position":[-0.19576728565199913,0.6931786511646618,0.71338606911949],"aabb_xy":[[-0.2597672873299965,0.6446612596853475],[-0.13176728397400178,0.7416960426439759]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_3","position":[0.6595638686552945,1.4978833856777256,0.71338606911949],"aabb_xy":[[0.6245638673038127,1.4775236497209048],[0.6945638700067762,1.5182431216345464]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_4","position":[-0.5737518241202577,-1.9913255681870334,0.71338606911949],"aabb_xy":[[-0.5819663692359416,-2.0000021584846737],[-0.5655372790045736,-1.9826489778893917]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_5","position":[0.03853993869449279,1.1019820212926268,0.71338606911949],"aabb_xy":[[0.016367411717841947,1.0798063541365037],[0.06071246567114362,1.1241576884487499]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_6","position":[0.5335468349864658,-0.9804896333036606,0.71338606911949],"aabb_xy":[[0.4960468344891076,-0.984458316851779],[0.5710468354838241,-0.9765209497555422]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_7","position":[-0.47673032345810307,1.3374844365180114,0.71338606911949],"aabb_xy":[[-0.5142303220337238,1.3247481408544532],[-0.4392303248824822,1.3502207321815691]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_8","position":[-0.37846445229407566,1.7957220027167655,0.71338606911949],"aabb_xy":[[-0.3892374262154434,1.7607220044977268],[-0.3676914783727078,1.8307220009358047]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_9","position":[-0.4373041482491807,-0.32670949285884365,0.71338606911949],"aabb_xy":[[-0.45480414849423006,-0.34420928069841045],[-0.4198041480041313,-0.30920970501927675]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_10","position":[0.5051015747685588,-2.533828531082678,0.71338606911949],"aabb_xy":[[0.46760157325292706,-2.545055304098823],[0.5426015762841905,-2.522601758066533]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_11","position":[0.22401275603443271,1.4449432598165628,0.71338606911949],"aabb_xy":[[0.21589910136105558,1.4368374433625337],[0.2321264107078098,1.4530490762705919]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_12","position":[-0.600299728093642,-1.8263817599989496,0.71338606911949],"aabb_xy":[[-0.655291978729153,-1.8813817617422628],[-0.5453074774581311,-1.7713817582556373]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_13","position":[-0.3466534176459121,-0.5397687712562171,0.71338606911949],"aabb_xy":[[-0.3643290482345104,-0.5574489875356198],[-0.32897778705731373,-0.5220885549768143]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_14","position":[-0.5656214899177225,-0.4932448325498431,0.71338606911949],"aabb_xy":[[-0.5906214890833557,-0.5001970782551997],[-0.5406214907520894,-0.4862925868444865]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_15","position":[-0.3465858038029284,-1.8947575995115402,0.71338606911949],"aabb_xy":[[-0.358353990597586,-1.979757599416762],[-0.33481761700827095,-1.8097575996063189]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_16","position":[0.6705573308123549,0.29988483019581436,0.71338606911949],"aabb_xy":[[0.6644627029242366,0.29131543564414564],[0.6766519587004732,0.3084542247474831]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_17","position":[-0.26409506529903193,-1.1039019101973544,0.71338606911949],"aabb_xy":[[-0.3008896984239382,-1.1408077852939364],[-0.22730043217412566,-1.066996035100772]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_18","position":[-0.09834908611318771,-0.3706169589978243,0.71338606911949],"aabb_xy":[[-0.13584908621878067,-0.37743912085080533],[-0.06084908600759476,-0.3637947971448431]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_19","position":[0.5109283919321315,0.6279423018812964,0.71338606911949],"aabb_xy":[[0.46593580521368105,0.5829423026068475],[0.5559209786505819,0.672942301155745]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_20","position":[0.6386593057369567,-1.223535924322833,0.71338606911949],"aabb_xy":[[0.5586593083333632,-1.3035284955210156],[0.71865930314055,-1.14354335312465]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_21","position":[-0.037530937630358197,0.46368505537415317,0.71338606911949],"aabb_xy":[[-0.07344444205534786,0.4277715471573985],[-0.0016174332053685084,0.4995985635909077]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_22","position":[0.22852102852481881,-1.35703401991684,0.71338606911949],"aabb_xy":[[0.16452103122247239,-1.4014004468846968],[0.2925210258271652,-1.3126675929489833]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_23","position":[-0.4748871412373184,1.0238536169754306,0.71338606911949],"aabb_xy":[[-0.5248659497476342,0.9738536169697118],[-0.4249083327270025,1.0738536169811495]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_24","position":[0.42711726732068644,-2.197507600501022,0.71338606911949],"aabb_xy":[[0.37211726814409696,-2.2524972752759798],[0.48211726649727593,-2.1425179257260645]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_25","position":[-0.47427394335027656,0.09672910350931474,0.71338606911949],"aabb_xy":[[-0.5592739417676997,0.011854808047029763],[-0.38927394493285333,0.18160339897159972]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_26","position":[0.5159592168546656,1.5184154287226383,0.71338606911949],"aabb_xy":[[0.5025126902206222,1.504945577069547],[0.5294057434887088,1.5318852803757297]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_27","position":[0.5042842398331855,-0.31651415081444245,0.71338606911949],"aabb_xy":[[0.44269348060919267,-0.38051414892348934],[0.5658749990571783,-0.25251415270539557]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_28","position":[0.5898514612581947,-1.7939417455250692,0.71338606911949],"aabb_xy":[[0.5098514601850743,-1.8037197918624537],[0.669851462331315,-1.7841636991876848]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_29","position":[0.21716393542355505,0.8864832644209035,0.71338606911949],"aabb_xy":[[0.17497952126272434,0.8224832641436923],[0.2593483495843858,0.9504832646981147]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_30","position":[-0.14262000182163592,1.1168576616346364,0.71338606911949],"aabb_xy":[[-0.16016669673775483,1.0793576600703851],[-0.12507330690551696,1.1543576631988877]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6902076072421834,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3823.png","name":"3823"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3823.png","name":"3823"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2299.png","name":"2299"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3866.png","name":"3866"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1759.png","name":"1759"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6454.png","name":"6454"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":755.6327779307244,"rotation_z_degrees":112.83566165374651,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009403415549723789,-0.006303704376375126,0.007075130125675816]},{"name":"camera_2","offset_m":[-0.00218692861752268,0.014690422740648256,0.01824876921776845]},{"name":"camera_3","offset_m":[0.018056697618065266,-0.004418414007309747,-0.009279820441338913]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019677183153008248,-3.3360496848176824e-05,-0.0016940475380938166],"end_effector_yaw_offset_degrees":-0.31330885472655967},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014950368295240852,0.00011061672380288266,3.978870412964415e-05],"end_effector_yaw_offset_degrees":-0.6301395403841012},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007552825592324836,-0.0003425232522154399,-0.00118807624618336],"end_effector_yaw_offset_degrees":0.7435880789194229}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002037978973210185,-0.0029673650262724473],"position_m":[0.2768620210267898,-0.12066736502627244,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-4.491735434179484e-05,0.003938756466196641],"position_m":[0.22645508264565822,-0.4052612435338034,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0046440326886151755,-0.0034003268772245607],"position_m":[0.3572440326886152,0.06259967312277544,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00316408502553184,0.0008487987625195367],"position_m":[0.33903591497446817,0.32474879876251955,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9d97cc6ab386d91f572279583cdc8103641d5d66d10f3333415966089c803593","episode_index":96,"episode_name":"episode_0096"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0096.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_3823/tex_ceiling_textures_6454/tex_floor_textures_1759/tex_table_textures_2299/tex_wall_textures_3866","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":9042959848355375079,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":9042959848355375079,"visual_seed":9042959848355375079,"scene_id":"lab_003","finished_at":"2026-09-04T04:01:59"} +{"episode_id":"ep_000097","started_at":"2026-09-04T04:02:02","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_0","position":[0.5808073862401262,-1.4096741867572973,0.71338606911949],"aabb_xy":[[0.5688746518782981,-1.4220563395651569],[0.5927401206019542,-1.3972920339494381]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_1","position":[0.15507909854668123,-0.8013482863622392,0.71338606911949],"aabb_xy":[[0.09107909663433891,-0.8572594356202496],[0.2190791004590236,-0.7454371371042288]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_2","position":[0.09034477057265211,1.4595694322802646,0.71338606911949],"aabb_xy":[[0.04037147656939165,1.409569431725717],[0.14031806457591256,1.5095694328348117]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_3","position":[0.6753660942300308,-0.8300389587373322,0.71338606911949],"aabb_xy":[[0.644967983130887,-0.8604458607390016],[0.7057642053291742,-0.7996320567356626]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_4","position":[0.5482395780382365,-1.5113563485147183,0.71338606911949],"aabb_xy":[[0.4582395815373648,-1.5572679909331764],[0.6382395745391083,-1.4654447060962599]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_5","position":[0.4860954019379409,-1.1420471835148824,0.71338606911949],"aabb_xy":[[0.4501818975129512,-1.1779606917316372],[0.5220089063629305,-1.1061336752981281]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_6","position":[-0.14297577907537262,0.7882018336275904,0.71338606911949],"aabb_xy":[[-0.17797577820532828,0.7824566125519264],[-0.10797577994541696,0.7939470547032547]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_7","position":[-0.39685004822562436,-0.4607158231057902,0.71338606911949],"aabb_xy":[[-0.41195234968664235,-0.47581734473685194],[-0.38174774676460616,-0.4456143014747283]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_8","position":[-0.18334519230610935,-0.6250484431061298,0.71338606911949],"aabb_xy":[[-0.18777582166094955,-0.6304968148408125],[-0.1789145629512692,-0.6196000713714473]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_9","position":[0.6445132793256239,-1.0251792798012629,0.71338606911949],"aabb_xy":[[0.5993419614774549,-1.0891792769458017],[0.6896845971737928,-0.9611792826567249]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_10","position":[0.5683504594143014,0.12484231220501973,0.71338606911949],"aabb_xy":[[0.5318546387870225,0.08835836977826217],[0.60484628004158,0.1613262546317773]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_11","position":[0.1565688759265701,-2.3695311088041486,0.71338606911949],"aabb_xy":[[0.0915688780449223,-2.4206547725106895],[0.2215688738082179,-2.3184074450976078]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_12","position":[0.2718122986482975,1.2073527195533904,0.71338606911949],"aabb_xy":[[0.18681229995622284,1.1753668561585113],[0.3568122973403721,1.239338582948269]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_13","position":[-0.46315991320280336,1.7615697347150054,0.71338606911949],"aabb_xy":[[-0.500659914718435,1.7503429616988604],[-0.4256599116871716,1.7727965077311505]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_14","position":[-0.08816779818481657,1.321107266611754,0.71338606911949],"aabb_xy":[[-0.11063256815622168,1.2986072657328933],[-0.06570302821341144,1.3436072674906143]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_15","position":[-0.16755790279807792,1.5430056458993815,0.71338606911949],"aabb_xy":[[-0.20214898565212314,1.4780056456143502],[-0.1329668199440327,1.6080056461844123]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_16","position":[-0.542433484167784,-0.936515832398428,0.71338606911949],"aabb_xy":[[-0.6224334863305465,-1.0164710160245716],[-0.46243348200502155,-0.8565606487722842]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_17","position":[-0.4989409971550979,0.7611829113011437,0.71338606911949],"aabb_xy":[[-0.5489409988165925,0.711184469045441],[-0.44894099549360306,0.8111813535568464]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_18","position":[0.06939280283266058,1.6807158825233723,0.71338606911949],"aabb_xy":[[0.005392800782928586,1.6406213994340646],[0.13339280488239258,1.7208103656126805]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_19","position":[-0.45393617069392445,0.08589098544301121,0.71338606911949],"aabb_xy":[[-0.5039149792042403,0.03589098543729241],[-0.4039573621836085,0.13589098544873002]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_20","position":[-0.5900037265501383,-2.4560878546516443,0.71338606911949],"aabb_xy":[[-0.6700037237097136,-2.4676354556094613],[-0.510003729390563,-2.444540253693827]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6879683805690034,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4148.png","name":"4148"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4148.png","name":"4148"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2472.png","name":"2472"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1182.png","name":"1182"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2847.png","name":"2847"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3242.png","name":"3242"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":698.9374407164808,"rotation_z_degrees":218.90355724018875,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005768797399998294,-0.013467021711530936,-0.011648399405059488]},{"name":"camera_2","offset_m":[0.005710448068074383,0.017844870617146767,-0.01906368698063332]},{"name":"camera_3","offset_m":[-0.002880467000336971,-0.0010899379743874102,-0.0005526051630008848]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012039705909735533,0.0002706449935561922,-4.3354963112952026e-05],"end_effector_yaw_offset_degrees":0.8889938871506351},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.000626302063452469,0.0017821102910220948,-0.0018445984888646673],"end_effector_yaw_offset_degrees":-0.6173408695118854},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013288499133249734,0.0004801990707301966,-2.673251261050072e-05],"end_effector_yaw_offset_degrees":0.8840038202963236}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0012007278663331766,-0.004802982353258315],"position_m":[0.2776992721336668,-0.12250298235325831,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003647149660873368,0.0009147960605637067],"position_m":[0.23014714966087338,-0.4082852039394363,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.000579543436115295,-0.0017529181959448636],"position_m":[0.35202045656388475,0.06424708180405514,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004005248405133537,-0.002341881233341877],"position_m":[0.33819475159486645,0.32155811876665813,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2b2c03b68b4132f50e6e209c0a3d9a91d27427a5f2e2f3b095061cf0570a4394","episode_index":97,"episode_name":"episode_0097"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0097.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_4148/tex_ceiling_textures_3242/tex_floor_textures_2847/tex_table_textures_2472/tex_wall_textures_1182","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":4682853901312357026,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":4682853901312357026,"visual_seed":4682853901312357026,"scene_id":"lab_003","finished_at":"2026-09-04T04:04:54"} +{"episode_id":"ep_000098","started_at":"2026-09-04T04:04:57","dimensions":{"distractor":{"count":29,"items":[{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_0","position":[0.03696312977321958,1.7288448529031908,0.71338606911949],"aabb_xy":[[0.02539414902628301,1.7038448527862593],[0.04853211052015616,1.7538448530201227]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_1","position":[-0.05250045690684635,-1.4170548236345486,0.71338606911949],"aabb_xy":[[-0.13250045386988551,-1.4941304652783218],[0.027499540056192817,-1.339979181990775]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_2","position":[0.2391669051644022,-1.5835832726540555,0.71338606911949],"aabb_xy":[[0.1751712077693056,-1.6475832709547642],[0.3031626025594988,-1.5195832743533468]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_3","position":[-0.15579810918427728,-1.0067482362707072,0.71338606911949],"aabb_xy":[[-0.19079810916077314,-1.0162128523183238],[-0.12079810920778147,-0.9972836202230906]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_4","position":[0.32027462698818954,-1.1409728438274709,0.71338606911949],"aabb_xy":[[0.3120600818725055,-1.1496494341251118],[0.32848917210387346,-1.132296253529829]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_5","position":[0.609313507798356,0.015318208094969865,0.71338606911949],"aabb_xy":[[0.5918135075390194,0.0012266659061972442],[0.6268135080576926,0.029409750283742493]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_6","position":[-0.44205009922280325,1.3159064892897967,0.71338606911949],"aabb_xy":[[-0.4579345924881284,1.3015535489909726],[-0.4261656059574781,1.3302594295886208]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_7","position":[0.6242808147229655,-2.4027736581857786,0.71338606911949],"aabb_xy":[[0.5742808130614706,-2.452772100441481],[0.6742808163844601,-2.3527752159300754]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_8","position":[0.6125149806444514,-0.32303940204390047,0.71338606911949],"aabb_xy":[[0.6016745024179365,-0.3402256833345492],[0.6233554588709663,-0.3058531207532516]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_9","position":[0.2399693001943085,-1.8719332202673167,0.71338606911949],"aabb_xy":[[0.22295920290425783,-1.8880677087655904],[0.25697939748435916,-1.8557987317690425]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_10","position":[0.5410019216612754,0.9390606416349891,0.71338606911949],"aabb_xy":[[0.5308489061071258,0.9029911000622486],[0.5511549372154245,0.9751301832077293]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_11","position":[0.02092172322636421,-2.0191003988104583,0.71338606911949],"aabb_xy":[[-0.029051342306151258,-2.0691003986229917],[0.07089478875887968,-1.9691003989979259]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_12","position":[0.20783406719717556,0.744610167410678,0.71338606911949],"aabb_xy":[[0.1626627493490066,0.6806101702661396],[0.25300538504534453,0.8086101645552165]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_13","position":[0.22711719284340248,-2.425566357446531,0.71338606911949],"aabb_xy":[[0.20461719302950013,-2.4300409738170115],[0.2496171926573049,-2.4210917410760504]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_14","position":[-0.16558757682113645,-2.1928378407898754,0.71338606911949],"aabb_xy":[[-0.2355875732310982,-2.2132757764415563],[-0.09558758041117461,-2.172399905138193]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_15","position":[-0.20966845788003835,0.38319885361744177,0.71338606911949],"aabb_xy":[[-0.2214366446746959,0.2981988537122202],[-0.19790027108538086,0.4681988535226634]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_16","position":[-0.25913012329694773,-1.754650391973856,0.71338606911949],"aabb_xy":[[-0.27100220630844885,-1.8396503916675064],[-0.24725804028544662,-1.6696503922802057]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_17","position":[-0.6160356453993834,-0.5383551971395919,0.71338606911949],"aabb_xy":[[-0.6484973462813106,-0.5684880292544943],[-0.5835739445174557,-0.5082223650246891]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_18","position":[0.47971471659703124,-1.5531460640183623,0.71338606911949],"aabb_xy":[[0.38971471800256136,-1.569396650331783],[0.5697147151915012,-1.536895477704941]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_19","position":[0.39367368693560634,0.710633570687937,0.71338606911949],"aabb_xy":[[0.35989812774491337,0.696595075474772],[0.4274492461262993,0.724672065901102]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_20","position":[-0.5289596358409134,-1.1359737651423198,0.71338606911949],"aabb_xy":[[-0.576089014842749,-1.1999737661867216],[-0.48183025683907765,-1.0719737640979177]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_21","position":[0.48724658562102086,-1.8472050749190698,0.71338606911949],"aabb_xy":[[0.4778291110511581,-1.8566212520567886],[0.4966640601908836,-1.8377888977813506]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_22","position":[-0.27365988291151594,-2.3387214946313715,0.71338606911949],"aabb_xy":[[-0.29865988284403383,-2.345604162852295],[-0.24865988297899805,-2.331838826410448]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_23","position":[-0.12365595847107547,-1.2079890040134167,0.71338606911949],"aabb_xy":[[-0.1277341163781252,-1.21206998426168],[-0.11957780056402573,-1.2039080237651534]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_24","position":[-0.6180073783960037,-0.6509561292408359,0.71338606911949],"aabb_xy":[[-0.6254198339373922,-0.6568073396624639],[-0.6105949228546153,-0.645104918819208]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_25","position":[0.46774729434135986,-2.453588799489147,0.71338606911949],"aabb_xy":[[0.4037472936378906,-2.4996071819620687],[0.5317472950448292,-2.4075704170162266]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_26","position":[-0.4710256959859512,-1.5463104106550936,0.71338606911949],"aabb_xy":[[-0.536025693867599,-1.5974340743616349],[-0.4060256981043035,-1.495186746948553]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_27","position":[0.6919827723965635,-0.2984682861484971,0.71338606911949],"aabb_xy":[[0.6695180024251582,-0.3209682870273575],[0.7144475423679685,-0.2759682852696365]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_28","position":[-0.5740383757202518,-2.141471177902851,0.71338606911949],"aabb_xy":[[-0.6240383760808178,-2.1914511651124533],[-0.5240383753596857,-2.0914911906932474]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6922024163203576,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4418.png","name":"4418"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4418.png","name":"4418"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1099.png","name":"1099"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4218.png","name":"4218"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8709.png","name":"8709"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2700.png","name":"2700"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":702.1492545763929,"rotation_z_degrees":336.36539664972963,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00914588684039006,-0.0006242991481713936,-0.00864210919892142]},{"name":"camera_2","offset_m":[0.0041005387983506884,-0.018417132332432695,-0.015547432385280235]},{"name":"camera_3","offset_m":[-0.006528402271505626,0.01496673456684058,0.019357027121749287]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0001284361589734776,-0.0010439984857027911,0.0018972658680560957],"end_effector_yaw_offset_degrees":0.05593053616045607},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001803483719713281,-0.001095327480426912,-0.00012404493681244817],"end_effector_yaw_offset_degrees":-0.6880499158769151},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000441938539925905,-0.0005578877530626346,0.000894318159789778],"end_effector_yaw_offset_degrees":0.06656553732582582}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0024749559611601415,-0.0035016530371368526],"position_m":[0.27642504403883983,-0.12120165303713686,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0009789667342584608,0.003370233473541098],"position_m":[0.22552103326574155,-0.4058297665264589,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0027546145596531787,0.004624927645570096],"position_m":[0.3553546145596532,0.0706249276455701,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0004927329185034756,-0.0017947578172046552],"position_m":[0.3426927329185035,0.32210524218279535,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5704a554921a1421f252ee9b9549ee28b1dd5a90aa285b39a1b1cb065eb8428d","episode_index":98,"episode_name":"episode_0098"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0098.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_4418/tex_ceiling_textures_2700/tex_floor_textures_8709/tex_table_textures_1099/tex_wall_textures_4218","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":2363059125905658598,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":2363059125905658598,"visual_seed":2363059125905658598,"scene_id":"lab_003","finished_at":"2026-09-04T04:07:41"} +{"episode_id":"ep_000099","started_at":"2026-09-04T04:07:44","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_0","position":[-0.13117340886783968,0.20909257434711126,0.71338606911949],"aabb_xy":[[-0.144619935501883,0.19562272269402],[-0.11772688223379635,0.22256242600020246]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_1","position":[-0.006982723247941025,-1.5568242841968112,0.71338606911949],"aabb_xy":[[-0.07698272505668646,-1.5781780529609983],[0.06301727856080441,-1.5354705154326236]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_2","position":[0.6040561800834705,0.10128043462572389,0.71338606911949],"aabb_xy":[[0.5960299094528445,0.0925289396483713],[0.6120824507140965,0.11003192960307653]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_3","position":[-0.4453568276367754,-0.6156748552774771,0.71338606911949],"aabb_xy":[[-0.49533977782425465,-0.6656748549200374],[-0.395373877449296,-0.5656748556349166]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_4","position":[0.6439371336723199,0.26404434384022935,0.71338606911949],"aabb_xy":[[0.5799371316225879,0.22394986075092138],[0.7079371357220519,0.3041388269295373]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_5","position":[-0.49169319981822845,-1.4422700751561004,0.71338606911949],"aabb_xy":[[-0.5141932003302689,-1.4647619335214987],[-0.4691931993061878,-1.419778216790702]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_6","position":[-0.0071373366590328224,-0.7237597994232963,0.71338606911949],"aabb_xy":[[-0.03710489356885849,-0.753759799721182],[0.022830220250792843,-0.6937597991254105]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_7","position":[-0.28653726890259523,-2.4523158233768174,0.71338606911949],"aabb_xy":[[-0.3415295195381062,-2.50731582512013],[-0.2315450182670843,-2.3973158216335047]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_8","position":[0.698529164385645,0.4537725498207603,0.71338606911949],"aabb_xy":[[0.6784707527724048,0.4337074629116028],[0.7185875759988853,0.47383763672991785]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_9","position":[-0.47785411157014623,0.7365535683839415,0.71338606911949],"aabb_xy":[[-0.5578541148279892,0.6565570605919574],[-0.3978541083123033,0.8165500761759253]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_10","position":[-0.21770854908162346,1.6203775611187603,0.71338606911949],"aabb_xy":[[-0.30270854777369804,1.5883916977238814],[-0.1327085503895488,1.6523634245136392]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_11","position":[-0.3971308009598368,-0.22642315404023217,0.71338606911949],"aabb_xy":[[-0.4043745670060821,-0.30642315224383454],[-0.38988703491359145,-0.1464231558366298]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_12","position":[-0.6006000601859581,-0.15163014382927553,0.71338606911949],"aabb_xy":[[-0.6706000635775201,-0.1869459175327064],[-0.5306000567943961,-0.11631437012584468]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_13","position":[0.17141766479974208,-0.8770295180403698,0.71338606911949],"aabb_xy":[[0.121417664439176,-0.9270095052499727],[0.2214176651603081,-0.8270495308307668]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_14","position":[0.3969408777310057,-1.039917571865127,0.71338606911949],"aabb_xy":[[0.361940876379524,-1.0602773078219478],[0.43194087908248746,-1.0195578359083062]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_15","position":[-0.2310257723057194,0.9356483248617136,0.71338606911949],"aabb_xy":[[-0.2860257705074642,0.895126358235276],[-0.17602577410397455,0.9761702914881512]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_16","position":[0.2427960246594888,0.8984258453284513,0.71338606911949],"aabb_xy":[[0.15779602624206557,0.8135515498661662],[0.327796023076912,0.9833001407907361]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_17","position":[0.2851584541720298,-0.6515254473720171,0.71338606911949],"aabb_xy":[[0.27745526349795274,-0.6592348180707551],[0.29286164484610683,-0.6438160766732791]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_18","position":[-0.3877703648192965,0.24112672847804095,0.71338606911949],"aabb_xy":[[-0.42339952071925624,0.20549406172118798],[-0.35214120891933676,0.2767593952348939]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_19","position":[-0.5304024621041957,1.0839582117431932,0.71338606911949],"aabb_xy":[[-0.5677337386294383,1.049305156948341],[-0.49307118557895313,1.1186112665380454]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_20","position":[0.6553976051482282,-1.521137217580845,0.71338606911949],"aabb_xy":[[0.6512816550361554,-1.5252527726136902],[0.6595135552603008,-1.517021662547999]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_21","position":[0.703835615247774,0.719198399013226,0.71338606911949],"aabb_xy":[[0.6997574573407245,0.7151174187649627],[0.7079137731548238,0.7232793792614893]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_22","position":[0.2467599425986734,1.6459787975038522,0.71338606911949],"aabb_xy":[[0.21891490581806627,1.6151942987655405],[0.2746049793792805,1.676763296242164]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_23","position":[0.06301374029000717,-2.219034969145217,0.71338606911949],"aabb_xy":[[0.04312270040966692,-2.2316907804299144],[0.08290478017034741,-2.2063791578605207]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_24","position":[-0.5325882672602213,0.1416643282313892,0.71338606911949],"aabb_xy":[[-0.5362915285893601,0.1379623099226713],[-0.5288850059310823,0.14536634654010702]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_25","position":[-0.4363395697537648,-0.9369111563617312,0.71338606911949],"aabb_xy":[[-0.4731901176907525,-0.9744111571847648],[-0.39948902181677726,-0.8994111555386973]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_26","position":[0.057112818666527176,-2.471504956664811,0.71338606911949],"aabb_xy":[[0.0455438379195906,-2.4965049567817426],[0.06868179941346375,-2.446504956547879]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_27","position":[-0.007277121545155807,-2.3145414403719275,0.71338606911949],"aabb_xy":[[-0.02477705497913918,-2.332041440292162],[0.010222811888827565,-2.297041440451693]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_28","position":[0.44881944755975045,-0.3448352377387285,0.71338606911949],"aabb_xy":[[0.3788194511497886,-0.3652731733904101],[0.5188194439697121,-0.32439730208704665]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_29","position":[0.0862364423749582,1.077048435805445,0.71338606911949],"aabb_xy":[[0.006236441301837856,1.0672703894680606],[0.16623644344807853,1.0868264821428295]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_30","position":[-0.6283835007089027,-0.5372540195906104,0.71338606911949],"aabb_xy":[[-0.6860139695961734,-0.5972540185173209],[-0.5707530318216317,-0.47725402066389966]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_31","position":[0.06764304814268984,-1.6390517212139168,0.71338606911949],"aabb_xy":[[0.05501626085549349,-1.6485977949154895],[0.0802698354298862,-1.6295056475123437]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_32","position":[-0.38679152761349117,-1.220207467543955,0.71338606911949],"aabb_xy":[[-0.4517915302512846,-1.2716870662434019],[-0.32179152497569763,-1.168727868844508]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6944548103205355,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3297.png","name":"3297"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3297.png","name":"3297"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3603.png","name":"3603"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5355.png","name":"5355"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/799.png","name":"799"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8596.png","name":"8596"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":599.0287954305775,"rotation_z_degrees":70.45294875177501,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010934705292189525,-0.004647510964467005,-0.010958381507040609]},{"name":"camera_2","offset_m":[-0.019878898744239044,0.011213506071697906,0.016519459323391033]},{"name":"camera_3","offset_m":[-0.0003241461168958931,0.007607753034980968,-0.00829811605795637]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00019874819828343817,-0.0005830366129479026,0.0010219923593492363],"end_effector_yaw_offset_degrees":0.9718821939345459},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0002800646534162187,0.0008398360645750906,-0.0010527592421698717],"end_effector_yaw_offset_degrees":0.13274690867898076},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0012898609817282324,-0.0007765949101074621,0.000924414999818561],"end_effector_yaw_offset_degrees":0.7152173693865154}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003635382643983211,-0.001005681468843572],"position_m":[0.2825353826439832,-0.11870568146884357,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0033827579341394734,0.0016682727329885216],"position_m":[0.22311724206586053,-0.4075317272670115,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0004110286178879109,-0.00023950742955690212],"position_m":[0.35218897138211214,0.0657604925704431,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002452582541286067,-0.000682313040197632],"position_m":[0.34465258254128606,0.3232176869598024,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"620f9fd1865ada285462505ae727fec2cf5dabe4fd1252a621b04b1c2ad94d40","episode_index":99,"episode_name":"episode_0099"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/dataset/episode_0099.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_3297/tex_ceiling_textures_8596/tex_floor_textures_799/tex_table_textures_3603/tex_wall_textures_5355","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":7548555001603756878,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":7548555001603756878,"visual_seed":7548555001603756878,"scene_id":"lab_003","finished_at":"2026-09-04T04:10:43"} diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..52e632940265509b233fc5047842466e9baf43e0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/resolved_config.yaml @@ -0,0 +1,233 @@ +name: lab3_heat_2beaker_s03_plr_hta_00030 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker a from home. Place beaker a on the heater platform. + Press the heater button to start heating. + layout_id: layout_00030 + reproducibility: + enabled: true + layout_id: layout_00030 + action_seed: 6658796726011171620 + step_seeds: + - 3188608099509189937 + - 4949622282959698655 + - 6590206372818194557 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.2789 + - 0.2789 + 'y': + - -0.1177 + - -0.1177 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.3526 + - 0.3526 + 'y': + - 0.066 + - 0.066 + z: + - 0.0 + - 0.0 + role: source + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.3422 + - 0.3422 + 'y': + - 0.3239 + - 0.3239 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2265 + - 0.2265 + 'y': + - -0.4092 + - -0.4092 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + - name: heat_button + path: /World/heat_device/button + parent_object: heat_device + steps: + - skill: pick + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.4 + gripper_distances: 0.018 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + pickz_offset: -0.01 + - skill: place + target_object: heater_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.005 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.045 + retreat_height: 0.15 + retreat_xy: 0.15 + keep_gripper_closed_until_release: true + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + - skill: press + target_object: heat_button + params: + end_effector_euler: + - 0 + - 90 + - 10 + events_dt: + - 0.004 + - 0.02 + - 0.01 + - 0.02 + - 0.01 + - 0.02 + press_distance: 0.04 + gripper_gap: 0.0 + lock_target_position: true + initial_offset_z: 0.2 + press_z_tcp_offset: 0.025 + position_threshold: 0.01 + recreate_motion_controllers_on_reset: true +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..60b2688434faf95b51842b9e354a634562caaa3e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_0_success.json @@ -0,0 +1,700 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3018502055360048, + -0.12233195498644868, + 1.1674419341685591 + ], + "current_z": 1.1674419341685591, + "required_z": 0.8611066195002487, + "initial_z": 0.7611066195002487, + "lift_margin": 0.30633531466831043, + "gripper_z": 1.1584635374610988, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.297836407359778, + -0.12674225314639842, + 1.1584635374610988 + ], + "object_minus_gripper": [ + 0.004013798176226768, + 0.004410298159949741, + 0.008978396707460368 + ], + "object_to_gripper_xy": 0.005963330081350302, + "object_to_gripper_z": 0.008978396707460368, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3018502055360048, + -0.14557222109897164, + 1.1674419341685591 + ], + "finger_b": [ + 0.29147454538169554, + -0.12233195498644868, + 1.1674419341685591 + ], + "finger_midpoint": [ + 0.29666237545885016, + -0.13395208804271017, + 1.1674419341685591 + ], + "object_minus_finger_midpoint": [ + 0.00518783007715462, + 0.011620133056261486, + 0.0 + ], + "finger_gap": 0.02545121397141212, + "fingertip_max_gap": 0.09211900131156811, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012725606985706066, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1674419341685591, + "object_top_z": 1.2176554924703396, + "finger_top_clearance": 0.050213558301780425, + "fingertip_min_top_clearance": 0.015064067490534128, + "object_projection_between_fingers": 0.8338063322346387, + "object_to_finger_line_xy": 0.009474326189316507, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04855950065578406, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2819895500061247, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 344, + "max_stable_success_frames": 344, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.28296366863640454, + -0.40539148533135916, + 0.8515395733868224 + ], + "target_position": [ + 0.2761633617051929, + -0.40659423709980436, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006905851589426401, + "xy_threshold": 0.08, + "gripper_dist": 0.18216291248221822, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395733868224, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07571694910605445, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0864487170876513, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14978908869112897, + "release_required_pad_clearance": 0.05322435854382565, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.470305210516351, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008757531642913818, + "max_z_decrease": 0.008757531642913818, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504893467283529, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008757531642913818, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020868327589994684, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008757531642913818, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008757610936089191, + "max_button_displacement": 0.12, + "button_start": [ + 0.13186328113079065, + -0.4628556966781615, + 0.7768088579177856 + ], + "button_final": [ + 0.13186328113079065, + -0.4628556966781615, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12987238447424854, + -0.46165985742028964, + 0.8030233314749721 + ], + "closest_button": [ + 0.13188089430332178, + -0.4628228545188903, + 0.7680513262748718 + ], + "closest_ee_minus_button": [ + -0.002008509829073246, + 0.0011629970986006821, + 0.03497200520010024 + ], + "button_min_z_position": [ + 0.13188089430332178, + -0.4628228545188903, + 0.7680513262748718 + ], + "min_active_finger_to_button": 0.14717804042418128, + "closest_active_finger": [ + 0.003948234021663666, + -0.5270271301269531, + 0.8104679584503174 + ], + "closest_active_finger_button": [ + 0.13186167180538172, + -0.4628543257713317, + 0.776096761226654 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12791343778371805, + -0.06417280435562145, + 0.03437119722366333 + ], + "min_contact_pad_to_button": 0.020868327589994684, + "closest_contact_pad": [ + 0.13188089430332178, + -0.4628228545188903, + 0.7889196538648665 + ], + "closest_contact_pad_button": [ + 0.13188089430332178, + -0.4628228545188903, + 0.7680513262748718 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020868327589994684 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 0, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c4b84815108758d0d5a21cf546cf464e26c512daa430d9a4925312188f76d7d2", + "visual_seed": 4141702845232641735, + "episode_index": 0, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_10_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_10_success.json new file mode 100644 index 0000000000000000000000000000000000000000..53cecc4da1f35c25776e9e999aa6fbbc0ef823a4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_10_success.json @@ -0,0 +1,700 @@ +{ + "episode": 10, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30697607412263783, + -0.12425377859781747, + 1.167061061127967 + ], + "current_z": 1.167061061127967, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.30595461271784585, + "gripper_z": 1.1580307619884262, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.30283739649024505, + -0.12864960238217632, + 1.1580307619884262 + ], + "object_minus_gripper": [ + 0.004138677632392784, + 0.004395823784358849, + 0.009030299139540787 + ], + "object_to_gripper_xy": 0.006037542487469822, + "object_to_gripper_z": 0.009030299139540787, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30697607412263783, + -0.14766549647688285, + 1.167061061127967 + ], + "finger_b": [ + 0.29668806908600764, + -0.12425377859781747, + 1.167061061127967 + ], + "finger_midpoint": [ + 0.30183207160432274, + -0.13595963753735016, + 1.167061061127967 + ], + "object_minus_finger_midpoint": [ + 0.005144002518315094, + 0.011705858939532687, + 0.0 + ], + "finger_gap": 0.025572477034551764, + "fingertip_max_gap": 0.09193389236185326, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012786238517275882, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.167061061127967, + "object_top_z": 1.2172213196184596, + "finger_top_clearance": 0.05016025849049255, + "fingertip_min_top_clearance": 0.015048077547147798, + "object_projection_between_fingers": 0.8381484950898288, + "object_to_finger_line_xy": 0.009418714938351759, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04846694618092663, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2105958487908557, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 344, + "max_stable_success_frames": 344, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2860817185682156, + -0.40675408393265267, + 0.8515395467040033 + ], + "target_position": [ + 0.2782064419965426, + -0.4082439490969129, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008014965956759787, + "xy_threshold": 0.08, + "gripper_dist": 0.18515182662695007, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395467040033, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07564632730131869, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0859738983836915, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1529488984148886, + "release_required_pad_clearance": 0.05298694919184575, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.007932445732327, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008634448051452637, + "max_z_decrease": 0.008634448051452637, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035000056613200735, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008634448051452637, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.02098772066938165, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008634448051452637, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008634693445504242, + "max_button_displacement": 0.12, + "button_start": [ + 0.1339063644409179, + -0.46450540423393244, + 0.7768088579177856 + ], + "button_final": [ + 0.1339063644409179, + -0.46450540423393244, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13380825304247504, + -0.4655738129031187, + 0.8035529396805263 + ], + "closest_button": [ + 0.13394993543624875, + -0.46447688341140736, + 0.7685703635215759 + ], + "closest_ee_minus_button": [ + -0.00014168239377371217, + -0.0010969294917113626, + 0.034982576158950396 + ], + "button_min_z_position": [ + 0.1339571624994278, + -0.46446469426155085, + 0.768174409866333 + ], + "min_active_finger_to_button": 0.14577310430643978, + "closest_active_finger": [ + -0.006766840815544128, + -0.4476475715637207, + 0.8106685280799866 + ], + "closest_active_finger_button": [ + 0.13390640914440155, + -0.4645040929317473, + 0.7763655781745911 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14067324995994568, + 0.016856521368026622, + 0.03430294990539551 + ], + "min_contact_pad_to_button": 0.02098772066938165, + "closest_contact_pad": [ + 0.1339571624994278, + -0.46692297274161787, + 0.7890176650298248 + ], + "closest_contact_pad_button": [ + 0.1339571624994278, + -0.46446469426155085, + 0.768174409866333 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002458278480067022, + 0.020843255163491836 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 10, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7527321559c9b32fd8a82e5058a3e4fb319d17b562723b44dfab61b45ed34c6b", + "visual_seed": 868699225444677853, + "episode_index": 10, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_11_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_11_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a6559b9d04c4e567ecaf61d2fbf40d08ad790b3f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_11_success.json @@ -0,0 +1,700 @@ +{ + "episode": 11, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.31047294910820616, + -0.11828794929039543, + 1.164667950654404 + ], + "current_z": 1.164667950654404, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.303561442639638, + "gripper_z": 1.1558573176901679, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3060755836846021, + -0.12266623663928412, + 1.1558573176901679 + ], + "object_minus_gripper": [ + 0.004397365423604083, + 0.00437828734888869, + 0.00881063296423612 + ], + "object_to_gripper_xy": 0.006205338248487948, + "object_to_gripper_z": 0.00881063296423612, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.31047294910820616, + -0.14203809134011472, + 1.164667950654404 + ], + "finger_b": [ + 0.3003738955925034, + -0.11828794929039543, + 1.164667950654404 + ], + "finger_midpoint": [ + 0.3054234223503548, + -0.13016302031525506, + 1.164667950654404 + ], + "object_minus_finger_midpoint": [ + 0.005049526757851364, + 0.01187507102485963, + 0.0 + ], + "finger_gap": 0.025808140756258924, + "fingertip_max_gap": 0.09214430299353879, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012904070378129438, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.164667950654404, + "object_top_z": 1.2147113841868555, + "finger_top_clearance": 0.05004343353245155, + "fingertip_min_top_clearance": 0.015013030059735465, + "object_projection_between_fingers": 0.8468743624978697, + "object_to_finger_line_xy": 0.0092937324633697, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0485721514967694, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6021947767614175, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 343, + "max_stable_success_frames": 343, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.28867401765488554, + -0.410009126289711, + 0.851539577873063 + ], + "target_position": [ + 0.28197664086506063, + -0.4109452835907004, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006762488177962398, + "xy_threshold": 0.08, + "gripper_dist": 0.18291736739608283, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539577873063, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07523392243103064, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08660327730673466, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15159861797039498, + "release_required_pad_clearance": 0.05330163865336733, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.6216829208390162, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008859455585479736, + "max_z_decrease": 0.008859455585479736, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034988623454660514, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008859455585479736, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020875987405505066, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 122, + "max_z_decrease_with_contact_point": 0.008859455585479736, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008859828520500698, + "max_button_displacement": 0.12, + "button_start": [ + 0.13767656683921814, + -0.4672067463397979, + 0.7768088579177856 + ], + "button_final": [ + 0.13767656683921814, + -0.4672067463397979, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1368097066223988, + -0.4670135636863094, + 0.8029252584636462 + ], + "closest_button": [ + 0.13774335384368896, + -0.46716040372848505, + 0.7679494023323059 + ], + "closest_ee_minus_button": [ + -0.0009336472212901625, + 0.0001468400421756333, + 0.034975856131340244 + ], + "button_min_z_position": [ + 0.13774335384368896, + -0.46716040372848505, + 0.7679494023323059 + ], + "min_active_finger_to_button": 0.14659029788731034, + "closest_active_finger": [ + 0.011007480323314667, + -0.5325108766555786, + 0.8111323118209839 + ], + "closest_active_finger_button": [ + 0.13767763972282407, + -0.4672052860260009, + 0.7768020629882812 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1266701593995094, + -0.06530559062957769, + 0.03433024883270264 + ], + "min_contact_pad_to_button": 0.020875987405505066, + "closest_contact_pad": [ + 0.13774335384368896, + -0.46795710787139644, + 0.7888101816241606 + ], + "closest_contact_pad_button": [ + 0.13774335384368896, + -0.46716040372848505, + 0.7679494023323059 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0007967041429113864, + 0.020860779291854703 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 11, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8f95bf1c9e0da1bb61ebceb9baeaaf60d810006806ae43ce95f8523b87a83a36", + "visual_seed": 5718627582455841183, + "episode_index": 11, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_12_success.json new file mode 100644 index 0000000000000000000000000000000000000000..59fc0cb23466a013d724ed85f21dc8d9f03c9e1d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_12_success.json @@ -0,0 +1,700 @@ +{ + "episode": 12, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3097481043461525, + -0.12454249983010725, + 1.1648907784424476 + ], + "current_z": 1.1648907784424476, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 0.30378421082303675, + "gripper_z": 1.155933071598578, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3054509387691975, + -0.12892814762920135, + 1.155933071598578 + ], + "object_minus_gripper": [ + 0.004297165576955031, + 0.004385647799094103, + 0.00895770684386954 + ], + "object_to_gripper_xy": 0.0061399950010945625, + "object_to_gripper_z": 0.00895770684386954, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3097481043461525, + -0.14823867105458505, + 1.1648907784424476 + ], + "finger_b": [ + 0.2996898787460135, + -0.12454249983010725, + 1.1648907784424476 + ], + "finger_midpoint": [ + 0.304718991546083, + -0.13639058544234614, + 1.1648907784424476 + ], + "object_minus_finger_midpoint": [ + 0.005029112800069513, + 0.011848085612238893, + 0.0 + ], + "finger_gap": 0.0257425024603876, + "fingertip_max_gap": 0.09207564028155193, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012871251230193795, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1648907784424476, + "object_top_z": 1.2150431797230055, + "finger_top_clearance": 0.05015240128055787, + "fingertip_min_top_clearance": 0.015045720384167393, + "object_projection_between_fingers": 0.8473343894590591, + "object_to_finger_line_xy": 0.009258673914942001, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04853782014077597, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.390887793002458, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 337, + "max_stable_success_frames": 337, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.28196992738517634, + -0.4095928897984573, + 0.8515395958761139 + ], + "target_position": [ + 0.27570386512389716, + -0.41033206361210617, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00630950982161145, + "xy_threshold": 0.08, + "gripper_dist": 0.1839348251033044, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395958761139, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07572943952599531, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08660681900566104, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15141965664002277, + "release_required_pad_clearance": 0.05330340950283052, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.6250579691578189, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008688747882843018, + "max_z_decrease": 0.008688747882843018, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035043020276295904, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008688747882843018, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020892874641284642, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008688747882843018, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008688820838662004, + "max_button_displacement": 0.12, + "button_start": [ + 0.1314037889242172, + -0.4665935337543487, + 0.7768088579177856 + ], + "button_final": [ + 0.1314037889242172, + -0.4665935337543487, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13167075234136713, + -0.4647194914369688, + 0.8031137627396252 + ], + "closest_button": [ + 0.1313967257738113, + -0.46655863523483265, + 0.7681201100349426 + ], + "closest_ee_minus_button": [ + 0.00027402656755581845, + 0.0018391437978638736, + 0.034993652704682576 + ], + "button_min_z_position": [ + 0.1313967257738113, + -0.46655863523483265, + 0.7681201100349426 + ], + "min_active_finger_to_button": 0.144907438925631, + "closest_active_finger": [ + 0.005596160888671875, + -0.5297529101371765, + 0.8107372522354126 + ], + "closest_active_finger_button": [ + 0.13140487670898438, + -0.46659082174301136, + 0.7763732671737671 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1258087158203125, + -0.06316208839416515, + 0.03436398506164551 + ], + "min_contact_pad_to_button": 0.020892874641284642, + "closest_contact_pad": [ + 0.1313967257738113, + -0.46655863523483265, + 0.7890129846762273 + ], + "closest_contact_pad_button": [ + 0.1313967257738113, + -0.46655863523483265, + 0.7681201100349426 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020892874641284642 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 12, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d0eda5599071633b2b00cb3c8e275e98d953eff687607aff9634cf76b9e76e3f", + "visual_seed": 30073532035770908, + "episode_index": 12, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_13_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_13_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bb66c6a142fbc2a152e81bf85669eee20e8b2a55 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_13_success.json @@ -0,0 +1,700 @@ +{ + "episode": 13, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.307214502046719, + -0.12414330256518825, + 1.1679178726430623 + ], + "current_z": 1.1679178726430623, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.30681136462829617, + "gripper_z": 1.158851994355428, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.30319259290619965, + -0.12850456685266431, + 1.158851994355428 + ], + "object_minus_gripper": [ + 0.004021909140519364, + 0.00436126428747606, + 0.009065878287634277 + ], + "object_to_gripper_xy": 0.005932653649068626, + "object_to_gripper_z": 0.009065878287634277, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.307214502046719, + -0.14750962588787336, + 1.1679178726430623 + ], + "finger_b": [ + 0.2970018506652206, + -0.12414330256518825, + 1.1679178726430623 + ], + "finger_midpoint": [ + 0.3021081763559698, + -0.1358264642265308, + 1.1679178726430623 + ], + "object_minus_finger_midpoint": [ + 0.005106325690749203, + 0.011683161661342548, + 0.0 + ], + "finger_gap": 0.02550065320458045, + "fingertip_max_gap": 0.09233372087901678, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01275032660229022, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1679178726430623, + "object_top_z": 1.2180373547299808, + "finger_top_clearance": 0.05011948208691841, + "fingertip_min_top_clearance": 0.01503584462607549, + "object_projection_between_fingers": 0.839611064874362, + "object_to_finger_line_xy": 0.009357882413737344, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048666860439508394, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.499413117125042, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 351, + "max_stable_success_frames": 351, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2877923050708897, + -0.4045029497849023, + 0.8515395130597075 + ], + "target_position": [ + 0.2812101677412636, + -0.4054923748693927, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006656086975383972, + "xy_threshold": 0.08, + "gripper_dist": 0.18337430965928136, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395130597075, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07544588915217737, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08563392609845415, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1516373676388744, + "release_required_pad_clearance": 0.052816963049227075, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6795467225947952, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00864630937576294, + "max_z_decrease": 0.00864630937576294, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504096597853059, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00864630937576294, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020887395539855635, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00864630937576294, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008646502468817898, + "max_button_displacement": 0.12, + "button_start": [ + 0.13691009581089017, + -0.4617538452148437, + 0.7768088579177856 + ], + "button_final": [ + 0.13691009581089017, + -0.4617538452148437, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13802539276958348, + -0.4604004276331278, + 0.8035616301919912 + ], + "closest_button": [ + 0.13694629073143, + -0.46172440052032465, + 0.7685623168945312 + ], + "closest_ee_minus_button": [ + 0.0010791020381534788, + 0.0013239728871968781, + 0.03499931329745998 + ], + "button_min_z_position": [ + 0.13695378601551053, + -0.46171602606773376, + 0.7681625485420227 + ], + "min_active_finger_to_button": 0.144369359771008, + "closest_active_finger": [ + 0.011855393648147583, + -0.5252103805541992, + 0.8107183575630188 + ], + "closest_active_finger_button": [ + 0.13691046833992, + -0.4617515802383423, + 0.7764149904251099 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1250550746917724, + -0.06345880031585693, + 0.034303367137908936 + ], + "min_contact_pad_to_button": 0.020887395539855635, + "closest_contact_pad": [ + 0.13695378601551053, + -0.46171602606773376, + 0.7890499440818783 + ], + "closest_contact_pad_button": [ + 0.13695378601551053, + -0.46171602606773376, + 0.7681625485420227 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020887395539855635 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 13, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "063a782f8b6bb29cfe14c9ac77592fb5608d4a34f0c9f636e23edf4ed5e04324", + "visual_seed": 1178361793073280422, + "episode_index": 13, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_14_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_14_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5cf40da68dae659e38b82788ae31acdd72524862 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_14_success.json @@ -0,0 +1,700 @@ +{ + "episode": 14, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3040030912264985, + -0.11519658663148764, + 1.165671698160025 + ], + "current_z": 1.165671698160025, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.30456519014525896, + "gripper_z": 1.1568376507311653, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29978626312745554, + -0.11967562652306456, + 1.1568376507311653 + ], + "object_minus_gripper": [ + 0.004216828099042946, + 0.004479039891576914, + 0.008834047428859737 + ], + "object_to_gripper_xy": 0.006151702005722927, + "object_to_gripper_z": 0.008834047428859737, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3040030912264985, + -0.13866203710592984, + 1.165671698160025 + ], + "finger_b": [ + 0.2935636150876948, + -0.11519658663148764, + 1.165671698160025 + ], + "finger_midpoint": [ + 0.29878335315709664, + -0.12692931186870873, + 1.165671698160025 + ], + "object_minus_finger_midpoint": [ + 0.005219738069401847, + 0.01173272523722109, + 0.0 + ], + "finger_gap": 0.025682874216511494, + "fingertip_max_gap": 0.0921384036694601, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012841437108255742, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.165671698160025, + "object_top_z": 1.2157257003161095, + "finger_top_clearance": 0.050054002156084465, + "fingertip_min_top_clearance": 0.015016200646825306, + "object_projection_between_fingers": 0.8347771297843929, + "object_to_finger_line_xy": 0.009538146246759626, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048569201834730055, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4205275637793535, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 348, + "max_stable_success_frames": 348, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.28179611189006676, + -0.40955975736616745, + 0.8515395840453871 + ], + "target_position": [ + 0.27510717939668977, + -0.4108270595339167, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006807927194479709, + "xy_threshold": 0.08, + "gripper_dist": 0.18487398272859526, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395840453871, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07587912305486917, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0864547364685747, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15201548092709252, + "release_required_pad_clearance": 0.05322736823428735, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4761493452496737, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008702516555786133, + "max_z_decrease": 0.008702516555786133, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499164423339672, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008702516555786133, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020953487704463973, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008702516555786133, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008702740209539877, + "max_button_displacement": 0.12, + "button_start": [ + 0.13080710172653198, + -0.467088520526886, + 0.7768088579177856 + ], + "button_final": [ + 0.13080710172653198, + -0.467088520526886, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13071805927669747, + -0.4677696155572137, + 0.803634356405214 + ], + "closest_button": [ + 0.1308397948741913, + -0.46706321835517883, + 0.7686500549316406 + ], + "closest_ee_minus_button": [ + -0.00012173559749384388, + -0.0007063972020348586, + 0.03498430147357334 + ], + "button_min_z_position": [ + 0.1308521628379822, + -0.46704536676406855, + 0.7681063413619995 + ], + "min_active_finger_to_button": 0.14591805244462408, + "closest_active_finger": [ + -0.010344818234443665, + -0.45364803075790405, + 0.8108680248260498 + ], + "closest_active_finger_button": [ + 0.13080823421478274, + -0.4670853614807129, + 0.7764103412628174 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1411530524492264, + 0.013437330722808838, + 0.03445768356323242 + ], + "min_contact_pad_to_button": 0.020953487704463973, + "closest_contact_pad": [ + 0.1308521628379822, + -0.46876844502150433, + 0.7889888615236054 + ], + "closest_contact_pad_button": [ + 0.1308521628379822, + -0.46704536676406855, + 0.7681063413619995 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001723078257435784, + 0.020882520161605855 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 14, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d5217ed7d90cc94d14c4c425dcadd053c957246e23ca9ef4dd6e7c7b9eeb31ec", + "visual_seed": 5191465986780708593, + "episode_index": 14, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_15_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_15_success.json new file mode 100644 index 0000000000000000000000000000000000000000..dbda9d273db956c1871fff0027ad4abd5b02b12c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_15_success.json @@ -0,0 +1,700 @@ +{ + "episode": 15, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30965248684944335, + -0.11787283083136234, + 1.1648379180590727 + ], + "current_z": 1.1648379180590727, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.3037314100443065, + "gripper_z": 1.1558802704423774, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3055914365847842, + -0.12220602916996974, + 1.1558802704423774 + ], + "object_minus_gripper": [ + 0.004061050264659138, + 0.0043331983386074024, + 0.008957647616695263 + ], + "object_to_gripper_xy": 0.00593874878183932, + "object_to_gripper_z": 0.008957647616695263, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30965248684944335, + -0.14120962574329618, + 1.1648379180590727 + ], + "finger_b": [ + 0.29939203583781615, + -0.11787283083136234, + 1.1648379180590727 + ], + "finger_midpoint": [ + 0.30452226134362975, + -0.12954122828732925, + 1.1648379180590727 + ], + "object_minus_finger_midpoint": [ + 0.0051302255058136015, + 0.011668397455966914, + 0.0 + ], + "finger_gap": 0.025492799997718238, + "fingertip_max_gap": 0.0923706410222073, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012746399998859112, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1648379180590727, + "object_top_z": 1.214879706079575, + "finger_top_clearance": 0.05004178802050241, + "fingertip_min_top_clearance": 0.015012536406150722, + "object_projection_between_fingers": 0.8380064119513551, + "object_to_finger_line_xy": 0.009392692877350488, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04868532051110365, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8061383554770378, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 346, + "max_stable_success_frames": 346, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.28808886006624423, + -0.4084179692698807, + 0.8515396039317894 + ], + "target_position": [ + 0.2814903337950597, + -0.4094085490873167, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006672465610718704, + "xy_threshold": 0.08, + "gripper_dist": 0.18553700031628498, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396039317894, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07529052318198982, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0856046990527106, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1540985934641231, + "release_required_pad_clearance": 0.052802349526355305, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6513177375121609, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00871950387954712, + "max_z_decrease": 0.00871950387954712, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504002558342215, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00871950387954712, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020874585723415478, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00871950387954712, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008719612826768804, + "max_button_displacement": 0.12, + "button_start": [ + 0.1371902525424957, + -0.4656700193881988, + 0.7768088579177856 + ], + "button_final": [ + 0.1371902525424957, + -0.4656700193881988, + 0.7768088579177856 + ], + "closest_ee": [ + 0.138540071353633, + -0.46493638758700523, + 0.8030960961197185 + ], + "closest_button": [ + 0.1371787786483764, + -0.46562796831130976, + 0.7680893540382385 + ], + "closest_ee_minus_button": [ + 0.0013612927052565893, + 0.0006915807243045302, + 0.035006742081480025 + ], + "button_min_z_position": [ + 0.1371787786483764, + -0.46562796831130976, + 0.7680893540382385 + ], + "min_active_finger_to_button": 0.144363971130114, + "closest_active_finger": [ + 0.011086441576480865, + -0.5270582437515259, + 0.8105310797691345 + ], + "closest_active_finger_button": [ + 0.13719008862972254, + -0.4656684696674346, + 0.7763240337371826 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12610364705324167, + -0.0613897740840913, + 0.034207046031951904 + ], + "min_contact_pad_to_button": 0.020874585723415478, + "closest_contact_pad": [ + 0.1371787786483764, + -0.46620615817740413, + 0.7889559307963694 + ], + "closest_contact_pad_button": [ + 0.1371787786483764, + -0.46562796831130976, + 0.7680893540382385 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0005781898660943696, + 0.02086657675813086 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 15, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d67f4808b06f18ba1558dfe77735d24a28dd113e023479f445c0b0a102d61295", + "visual_seed": 661549017604429334, + "episode_index": 15, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_16_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_16_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f34fe8b4b2d8d49659631c332b1b9ceb16f676e5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_16_success.json @@ -0,0 +1,700 @@ +{ + "episode": 16, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3099947132512465, + -0.12155898190908128, + 1.1665431858402688 + ], + "current_z": 1.1665431858402688, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.30543667782550277, + "gripper_z": 1.157760905785663, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.30572261645052734, + -0.12587263094973128, + 1.157760905785663 + ], + "object_minus_gripper": [ + 0.004272096800719161, + 0.00431364904065, + 0.008782280054605796 + ], + "object_to_gripper_xy": 0.006071110204947326, + "object_to_gripper_z": 0.008782280054605796, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3099947132512465, + -0.14530279203114607, + 1.1665431858402688 + ], + "finger_b": [ + 0.3000811585390829, + -0.12155898190908128, + 1.1665431858402688 + ], + "finger_midpoint": [ + 0.3050379358951647, + -0.13343088697011368, + 1.1665431858402688 + ], + "object_minus_finger_midpoint": [ + 0.0049567773560817985, + 0.011871905061032403, + 0.0 + ], + "finger_gap": 0.02573027567173985, + "fingertip_max_gap": 0.0927021475034476, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012865137835869931, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1665431858402688, + "object_top_z": 1.216519560989454, + "finger_top_clearance": 0.04997637514918507, + "fingertip_min_top_clearance": 0.014992912544755488, + "object_projection_between_fingers": 0.8515535086733617, + "object_to_finger_line_xy": 0.009148194279894292, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0488510737517238, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.089268600043638, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 349, + "max_stable_success_frames": 349, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.28355624564641435, + -0.4122923101734757, + 0.851539565334817 + ], + "target_position": [ + 0.27733670616191, + -0.41324915669841755, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006292712187252991, + "xy_threshold": 0.08, + "gripper_dist": 0.1842262313674167, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539565334817, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07575268241036663, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.088875392669113, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1515933173634554, + "release_required_pad_clearance": 0.0544376963345565, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.9030795943398355, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008694469928741455, + "max_z_decrease": 0.008694469928741455, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035078898588338285, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008694469928741455, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020853162056623464, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008694469928741455, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008694804552813127, + "max_button_displacement": 0.12, + "button_start": [ + 0.13303662836551663, + -0.4695106148719787, + 0.7768088579177856 + ], + "button_final": [ + 0.13303662836551663, + -0.4695106148719787, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1308265313796717, + -0.4677881407684815, + 0.8030781860217572 + ], + "closest_button": [ + 0.13310660421848297, + -0.4694802463054656, + 0.7681143879890442 + ], + "closest_ee_minus_button": [ + -0.0022800728388112645, + 0.0016921055369840676, + 0.03496379803271299 + ], + "button_min_z_position": [ + 0.13310660421848297, + -0.4694802463054656, + 0.7681143879890442 + ], + "min_active_finger_to_button": 0.1471009306564714, + "closest_active_finger": [ + 0.0045483410358428955, + -0.532357931137085, + 0.8107441067695618 + ], + "closest_active_finger_button": [ + 0.13303709030151364, + -0.46950954198837275, + 0.7764016389846802 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12848874926567075, + -0.06284838914871221, + 0.03434246778488159 + ], + "min_contact_pad_to_button": 0.020853162056623464, + "closest_contact_pad": [ + 0.13310660421848297, + -0.4694802463054656, + 0.7889675500456677 + ], + "closest_contact_pad_button": [ + 0.13310660421848297, + -0.4694802463054656, + 0.7681143879890442 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020853162056623464 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 16, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "73b9c7c50970b5d8538d5df4cdd70f3552d3a9ee483c52350545b89b1c333624", + "visual_seed": 2554511950047360311, + "episode_index": 16, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_17_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_17_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fe0aa44e4d95320487fb4805cbf05982ff65d8de --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_17_success.json @@ -0,0 +1,700 @@ +{ + "episode": 17, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3088253314439721, + -0.12468073565163461, + 1.1661442659974295 + ], + "current_z": 1.1661442659974295, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.3050377579826633, + "gripper_z": 1.1570426294934049, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3048667979185309, + -0.12898726750861253, + 1.1570426294934049 + ], + "object_minus_gripper": [ + 0.003958533525441232, + 0.0043065318569779215, + 0.009101636504024624 + ], + "object_to_gripper_xy": 0.005849461881849295, + "object_to_gripper_z": 0.009101636504024624, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3088253314439721, + -0.1480456330308829, + 1.1661442659974295 + ], + "finger_b": [ + 0.2987367745263505, + -0.12468073565163461, + 1.1661442659974295 + ], + "finger_midpoint": [ + 0.30378105298516134, + -0.13636318434125874, + 1.1661442659974295 + ], + "object_minus_finger_midpoint": [ + 0.00504427845881078, + 0.011682448689624134, + 0.0 + ], + "finger_gap": 0.025449900004182614, + "fingertip_max_gap": 0.09237394796638895, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01272495000209129, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1661442659974295, + "object_top_z": 1.216246360799014, + "finger_top_clearance": 0.05010209480158445, + "fingertip_min_top_clearance": 0.015030628440475334, + "object_projection_between_fingers": 0.8428602939062771, + "object_to_finger_line_xy": 0.009262044135583819, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04868697398319448, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5610851543900972, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 350, + "max_stable_success_frames": 350, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.28722059874224176, + -0.40844867229115245, + 0.8515395706413765 + ], + "target_position": [ + 0.28049697894396586, + -0.40955671971995317, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006814310845290196, + "xy_threshold": 0.08, + "gripper_dist": 0.18454376564838484, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395706413765, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07518422996532023, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08496532626241658, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15331780214799764, + "release_required_pad_clearance": 0.05248266313120829, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.03956467667915969, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008782684803009033, + "max_z_decrease": 0.008782684803009033, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034991709633072327, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008782684803009033, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020938643699197602, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 122, + "max_z_decrease_with_contact_point": 0.008782684803009033, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008782952431518722, + "max_button_displacement": 0.12, + "button_start": [ + 0.13619691133499146, + -0.4658181667327881, + 0.7768088579177856 + ], + "button_final": [ + 0.13619691133499146, + -0.4658181667327881, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13576966574265395, + -0.4665072633938815, + 0.8035858116924169 + ], + "closest_button": [ + 0.13623328506946564, + -0.4657904505729675, + 0.7686045169830322 + ], + "closest_ee_minus_button": [ + -0.00046361932681168727, + -0.0007168128209140145, + 0.034981294709384714 + ], + "button_min_z_position": [ + 0.136248379945755, + -0.4657728672027588, + 0.7680261731147766 + ], + "min_active_finger_to_button": 0.14622601993444517, + "closest_active_finger": [ + -0.005239821970462799, + -0.45188868045806885, + 0.8106570243835449 + ], + "closest_active_finger_button": [ + 0.13619782030582428, + -0.46581608057022095, + 0.7762554287910461 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14143764227628708, + 0.0139274001121521, + 0.03440159559249878 + ], + "min_contact_pad_to_button": 0.020938643699197602, + "closest_contact_pad": [ + 0.136248379945755, + -0.46755438375950903, + 0.788888891027838 + ], + "closest_contact_pad_button": [ + 0.136248379945755, + -0.4657728672027588, + 0.7680261731147766 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00178151655675024, + 0.02086271791306138 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 17, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "55ba9719a472c2cf80b227f48e935a23bba849df56b2522b8353b22829165fe6", + "visual_seed": 7869477690579540812, + "episode_index": 17, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_18_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c335b7664d8f975ee161feb60c1d68fc431bb53b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_18_success.json @@ -0,0 +1,700 @@ +{ + "episode": 18, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3031962489512711, + -0.12175268373498445, + 1.16476958634484 + ], + "current_z": 1.16476958634484, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.3036631379347189, + "gripper_z": 1.1561224023027514, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2988345769878903, + -0.12610523869885562, + 1.1561224023027514 + ], + "object_minus_gripper": [ + 0.004361671963380831, + 0.004352554963871172, + 0.00864718404208853 + ], + "object_to_gripper_xy": 0.006161892325386899, + "object_to_gripper_z": 0.00864718404208853, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3031962489512711, + -0.14553777020805048, + 1.16476958634484 + ], + "finger_b": [ + 0.29323734262937085, + -0.12175268373498445, + 1.16476958634484 + ], + "finger_midpoint": [ + 0.298216795790321, + -0.13364522697151746, + 1.16476958634484 + ], + "object_minus_finger_midpoint": [ + 0.004979453160950109, + 0.011892543236533007, + 0.0 + ], + "finger_gap": 0.02578585181179039, + "fingertip_max_gap": 0.092739340079355, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012892925905895178, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.16476958634484, + "object_top_z": 1.214849819149645, + "finger_top_clearance": 0.050080232804805114, + "fingertip_min_top_clearance": 0.015024069841441534, + "object_projection_between_fingers": 0.8508372678887406, + "object_to_finger_line_xy": 0.009186178908204742, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0488696700396775, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.0282369143327164, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 341, + "max_stable_success_frames": 341, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2812589778121818, + -0.4116187494344611, + 0.8515395695465481 + ], + "target_position": [ + 0.27499384603034727, + -0.412270940984305, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006298986431279306, + "xy_threshold": 0.08, + "gripper_dist": 0.1840074786750435, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395695465481, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07522278899723446, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0876940754868714, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1527564423447651, + "release_required_pad_clearance": 0.0538470377434357, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.7035206255147046, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008822977542877197, + "max_z_decrease": 0.008822977542877197, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504128241514981, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008822977542877197, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.02104080563063842, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 122, + "max_z_decrease_with_contact_point": 0.008822977542877197, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008823204948125395, + "max_button_displacement": 0.12, + "button_start": [ + 0.13069377839565274, + -0.4685324132442474, + 0.7768088579177856 + ], + "button_final": [ + 0.13069377839565274, + -0.4685324132442474, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13174638643400918, + -0.4698074817826496, + 0.8033563272317715 + ], + "closest_button": [ + 0.1306644231081009, + -0.4684894382953644, + 0.7683565616607666 + ], + "closest_ee_minus_button": [ + 0.0010819633259082917, + -0.0013180434872852032, + 0.034999765571004926 + ], + "button_min_z_position": [ + 0.13065190613269806, + -0.468484878540039, + 0.7679858803749084 + ], + "min_active_finger_to_button": 0.14470381659818143, + "closest_active_finger": [ + -0.009254634380340576, + -0.45563456416130066, + 0.8107277154922485 + ], + "closest_active_finger_button": [ + 0.13069486618041992, + -0.4685294926166534, + 0.7762740850448608 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1399495005607605, + 0.012894928455352728, + 0.034453630447387695 + ], + "min_contact_pad_to_button": 0.02104080563063842, + "closest_contact_pad": [ + 0.13065190613269806, + -0.4708233010662481, + 0.7888963390421693 + ], + "closest_contact_pad_button": [ + 0.13065190613269806, + -0.468484878540039, + 0.7679858803749084 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002338422526209083, + 0.020910458667260823 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 18, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f31070786234b4bcaa3f6fd55b2dddcf05d07f09d06228aa710de5b4d5e91d1c", + "visual_seed": 1842179538665625988, + "episode_index": 18, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_19_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_19_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0145dfc3fd8b880bb05d525e65efcc86acf0021f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_19_success.json @@ -0,0 +1,700 @@ +{ + "episode": 19, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30539874037583753, + -0.12433279369702822, + 1.1640979299436385 + ], + "current_z": 1.1640979299436385, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.30299142192887263, + "gripper_z": 1.1552821235748216, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.30113658488277834, + -0.12865868537086575, + 1.1552821235748216 + ], + "object_minus_gripper": [ + 0.004262155493059194, + 0.004325891673837526, + 0.008815806368816848 + ], + "object_to_gripper_xy": 0.006072833623671201, + "object_to_gripper_z": 0.008815806368816848, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30539874037583753, + -0.14797465996052633, + 1.1640979299436385 + ], + "finger_b": [ + 0.29538447437187754, + -0.12433279369702822, + 1.1640979299436385 + ], + "finger_midpoint": [ + 0.3003916073738575, + -0.13615372682877727, + 1.1640979299436385 + ], + "object_minus_finger_midpoint": [ + 0.005007133001980024, + 0.011820933131749048, + 0.0 + ], + "finger_gap": 0.025675345450824977, + "fingertip_max_gap": 0.09237891979022603, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012837672725412494, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1640979299436385, + "object_top_z": 1.2141776906113302, + "finger_top_clearance": 0.05007976066769171, + "fingertip_min_top_clearance": 0.015023928200307478, + "object_projection_between_fingers": 0.8478732261753572, + "object_to_finger_line_xy": 0.00922113932395446, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048689459895113016, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7196379687904915, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 341, + "max_stable_success_frames": 341, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.28744971631275623, + -0.40366506573200045, + 0.8515395363169641 + ], + "target_position": [ + 0.2808658505861957, + -0.40434325625964057, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006618703067607697, + "xy_threshold": 0.08, + "gripper_dist": 0.18453884211504626, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395363169641, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07516207415458125, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08772290049107888, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15328073698836384, + "release_required_pad_clearance": 0.05386145024553944, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.7323204150558396, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008513987064361572, + "max_z_decrease": 0.008513987064361572, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035016340987924444, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008513987064361572, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.020877409404957747, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008513987064361572, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008514041170561946, + "max_button_displacement": 0.12, + "button_start": [ + 0.13656577467918396, + -0.460604727268219, + 0.7768088579177856 + ], + "button_final": [ + 0.13656577467918396, + -0.460604727268219, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1367624487847762, + -0.45942978835338466, + 0.8036546522073827 + ], + "closest_button": [ + 0.13656760752201078, + -0.4605670571327209, + 0.7686573266983032 + ], + "closest_ee_minus_button": [ + 0.00019484126276542169, + 0.0011372687793362313, + 0.034997325509079524 + ], + "button_min_z_position": [ + 0.13656483590602875, + -0.46057438850402826, + 0.7682948708534241 + ], + "min_active_finger_to_button": 0.14522012790833264, + "closest_active_finger": [ + 0.010382317006587982, + -0.5237690806388855, + 0.8108745813369751 + ], + "closest_active_finger_button": [ + 0.1365665942430496, + -0.46060267090797424, + 0.7765756249427795 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1261842772364616, + -0.06316640973091125, + 0.03429895639419556 + ], + "min_contact_pad_to_button": 0.020877409404957747, + "closest_contact_pad": [ + 0.13656483590602875, + -0.46057438850402826, + 0.7891722802583818 + ], + "closest_contact_pad_button": [ + 0.13656483590602875, + -0.46057438850402826, + 0.7682948708534241 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020877409404957747 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 19, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2c2343278f1acb56e68a2e984b6da468bf9c6c64927d66e9ce8f49bc2876dcb1", + "visual_seed": 4917382852345742674, + "episode_index": 19, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_1_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_1_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8bc77ae83a6624273e635ec477e2aaf2da074e4b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_1_success.json @@ -0,0 +1,700 @@ +{ + "episode": 1, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3056110632109837, + -0.1206751893514695, + 1.16663080669588 + ], + "current_z": 1.16663080669588, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.30552435828575886, + "gripper_z": 1.1579213921530875, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.301074955425434, + -0.1252011987679621, + 1.1579213921530875 + ], + "object_minus_gripper": [ + 0.004536107785549692, + 0.004526009416492602, + 0.008709414542792393 + ], + "object_to_gripper_xy": 0.00640788850404751, + "object_to_gripper_z": 0.008709414542792393, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3056110632109837, + -0.14449830199404642, + 1.16663080669588 + ], + "finger_b": [ + 0.2952695599421702, + -0.1206751893514695, + 1.16663080669588 + ], + "finger_midpoint": [ + 0.3004403115765769, + -0.13258674567275797, + 1.16663080669588 + ], + "object_minus_finger_midpoint": [ + 0.005170751634406778, + 0.011911556321288472, + 0.0 + ], + "finger_gap": 0.025970894975718282, + "fingertip_max_gap": 0.09176906948470939, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012985447487859158, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.16663080669588, + "object_top_z": 1.2166953149160566, + "finger_top_clearance": 0.05006450822017672, + "fingertip_min_top_clearance": 0.015019352466053015, + "object_projection_between_fingers": 0.8414400445373439, + "object_to_finger_line_xy": 0.009486265201752383, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0483845347423547, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0499763964030493, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 347, + "max_stable_success_frames": 347, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2905212187561195, + -0.40836637314632784, + 0.851539592622545 + ], + "target_position": [ + 0.28413945443253774, + -0.40929879410161807, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0064495212783279975, + "xy_threshold": 0.08, + "gripper_dist": 0.18546983673540418, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539592622545, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07540524669644472, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08576212254655634, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1536910046888392, + "release_required_pad_clearance": 0.05288106127327817, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8030769729191157, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008770227432250977, + "max_z_decrease": 0.008770227432250977, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035000248320537955, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008770227432250977, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020868035173268885, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 122, + "max_z_decrease_with_contact_point": 0.008770227432250977, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008770367539834177, + "max_button_displacement": 0.12, + "button_start": [ + 0.1398393809795379, + -0.46556025743484497, + 0.7768088579177856 + ], + "button_final": [ + 0.1398393809795379, + -0.46556025743484497, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13995147929154758, + -0.46493890338980914, + 0.8030339001447483 + ], + "closest_button": [ + 0.13982035219669336, + -0.46551448106765747, + 0.7680386304855347 + ], + "closest_ee_minus_button": [ + 0.00013112709485421647, + 0.0005755776778483268, + 0.034995269659213624 + ], + "button_min_z_position": [ + 0.13982035219669336, + -0.46551448106765747, + 0.7680386304855347 + ], + "min_active_finger_to_button": 0.1455044675413784, + "closest_active_finger": [ + 0.012832574546337128, + -0.5277683138847351, + 0.81047523021698 + ], + "closest_active_finger_button": [ + 0.13983932137489313, + -0.46555855870246887, + 0.7762585282325745 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.127006746828556, + -0.062209755182266235, + 0.03421670198440552 + ], + "min_contact_pad_to_button": 0.020868035173268885, + "closest_contact_pad": [ + 0.13982035219669336, + -0.4661405360480151, + 0.7888972725111881 + ], + "closest_contact_pad_button": [ + 0.13982035219669336, + -0.46551448106765747, + 0.7680386304855347 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0006260549803576154, + 0.020858642025653462 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 1, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "62426b35e9b794a94ab26ef2b8b92e68fd99b83cd22c9b838eed5776b0a0ac64", + "visual_seed": 987221207239096107, + "episode_index": 1, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_20_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_20_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6a21412f2b610351aa46b9b38b051a718018b8f8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_20_success.json @@ -0,0 +1,700 @@ +{ + "episode": 20, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3048154986875936, + -0.12308123834188679, + 1.1664216113557515 + ], + "current_z": 1.1664216113557515, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.3053151629456303, + "gripper_z": 1.1574700687448505, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3006736924862138, + -0.12748458555355185, + 1.1574700687448505 + ], + "object_minus_gripper": [ + 0.004141806201379827, + 0.004403347211665062, + 0.008951542610901031 + ], + "object_to_gripper_xy": 0.006045165446558669, + "object_to_gripper_z": 0.008951542610901031, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3048154986875936, + -0.14656012769963142, + 1.1664216113557515 + ], + "finger_b": [ + 0.29458281166549616, + -0.12308123834188679, + 1.1664216113557515 + ], + "finger_midpoint": [ + 0.2996991551765449, + -0.1348206830207591, + 1.1664216113557515 + ], + "object_minus_finger_midpoint": [ + 0.0051163435110487265, + 0.011739444678872321, + 0.0 + ], + "finger_gap": 0.025611835724239206, + "fingertip_max_gap": 0.09214798619886058, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012805917862119608, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1664216113557515, + "object_top_z": 1.216567083207969, + "finger_top_clearance": 0.050145471852217405, + "fingertip_min_top_clearance": 0.015043641555665187, + "object_projection_between_fingers": 0.8403760818787683, + "object_to_finger_line_xy": 0.009380511768505509, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04857399309943029, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2889879914769908, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 348, + "max_stable_success_frames": 348, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.28470972436119246, + -0.40454877025339764, + 0.8515396014483088 + ], + "target_position": [ + 0.2780752208717387, + -0.40570901113939173, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006735190826183516, + "xy_threshold": 0.08, + "gripper_dist": 0.18297192782395308, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396014483088, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07579477553783495, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0863910718705208, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15037449863612928, + "release_required_pad_clearance": 0.0531955359352604, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.413858283744124, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008528470993041992, + "max_z_decrease": 0.008528470993041992, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035010528569337965, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008528470993041992, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02087849750120596, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008528470993041992, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008528663545305903, + "max_button_displacement": 0.12, + "button_start": [ + 0.13377514481544492, + -0.4619704782962799, + 0.7768088579177856 + ], + "button_final": [ + 0.13377514481544492, + -0.4619704782962799, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13386472398445956, + -0.4607804723324554, + 0.8036243822764008 + ], + "closest_button": [ + 0.1338121742010116, + -0.46194082498550415, + 0.7686331272125244 + ], + "closest_ee_minus_button": [ + 5.254978344795824e-05, + 0.0011603526530487573, + 0.03499125506387635 + ], + "button_min_z_position": [ + 0.1338214725255966, + -0.46193674206733704, + 0.7682803869247437 + ], + "min_active_finger_to_button": 0.14533542848446565, + "closest_active_finger": [ + 0.007271677255630493, + -0.5247540473937988, + 0.8108296990394592 + ], + "closest_active_finger_button": [ + 0.1337756812572479, + -0.4619680643081665, + 0.776521623134613 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1265040040016174, + -0.06278598308563232, + 0.03430807590484619 + ], + "min_contact_pad_to_button": 0.02087849750120596, + "closest_contact_pad": [ + 0.1338214725255966, + -0.46193674206733704, + 0.7891588844259496 + ], + "closest_contact_pad_button": [ + 0.1338214725255966, + -0.46193674206733704, + 0.7682803869247437 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02087849750120596 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 20, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c41da8e1319dd63d715f8ed0c58be28f3370d9768760bcd6569240d5b0a26c76", + "visual_seed": 8078996975792728493, + "episode_index": 20, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_21_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_21_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a2089f7961dfd6c8c2becd81e134cf58bdf00221 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_21_success.json @@ -0,0 +1,700 @@ +{ + "episode": 21, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30954710157174287, + -0.12519373006846612, + 1.1642544236644006 + ], + "current_z": 1.1642544236644006, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.3031479752542794, + "gripper_z": 1.1552545459971673, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.30532124832211316, + -0.1295370424288959, + 1.1552545459971673 + ], + "object_minus_gripper": [ + 0.004225853249629707, + 0.004343312360429785, + 0.008999877667233314 + ], + "object_to_gripper_xy": 0.006059884318010378, + "object_to_gripper_z": 0.008999877667233314, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30954710157174287, + -0.14882025128577625, + 1.1642544236644006 + ], + "finger_b": [ + 0.2994950821408767, + -0.12519373006846612, + 1.1642544236644006 + ], + "finger_midpoint": [ + 0.3045210918563098, + -0.1370069906771212, + 1.1642544236644006 + ], + "object_minus_finger_midpoint": [ + 0.005026009715433044, + 0.011813260608655063, + 0.0 + ], + "finger_gap": 0.02567597319422413, + "fingertip_max_gap": 0.09211746057659162, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012837986597112055, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1642544236644006, + "object_top_z": 1.2143098160854118, + "finger_top_clearance": 0.0500553924210112, + "fingertip_min_top_clearance": 0.01501661772630336, + "object_projection_between_fingers": 0.8467315336878993, + "object_to_finger_line_xy": 0.009249668885524363, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04855873028829581, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3827422795793902, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 346, + "max_stable_success_frames": 346, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2881484316862687, + -0.403825361114622, + 0.8515395615093302 + ], + "target_position": [ + 0.2821264505083674, + -0.40446702523450156, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0060560705205387555, + "xy_threshold": 0.08, + "gripper_dist": 0.18393422788235733, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395615093302, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07529342378528212, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08592289029838261, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15233854660504156, + "release_required_pad_clearance": 0.05296144514919131, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9585791859123932, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008588314056396484, + "max_z_decrease": 0.008588314056396484, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500046518114114, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008588314056396484, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02089386738880717, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008588314056396484, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008588378609887976, + "max_button_displacement": 0.12, + "button_start": [ + 0.13782638311386103, + -0.4607284963130951, + 0.7768088579177856 + ], + "button_final": [ + 0.13782638311386103, + -0.4607284963130951, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1380494176988952, + -0.460424852982179, + 0.8035849008855747 + ], + "closest_button": [ + 0.13782627880573267, + -0.46069097518920893, + 0.7685861587524414 + ], + "closest_ee_minus_button": [ + 0.00022313889316252777, + 0.0002661222070299285, + 0.034998742133133254 + ], + "button_min_z_position": [ + 0.13782145082950586, + -0.4606955647468567, + 0.7682205438613892 + ], + "min_active_finger_to_button": 0.14557154992274304, + "closest_active_finger": [ + 0.011772550642490387, + -0.5249541997909546, + 0.8108103275299072 + ], + "closest_active_finger_button": [ + 0.13782699406146998, + -0.46072641015052795, + 0.7765153646469116 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1260544434189796, + -0.06422778964042664, + 0.034294962882995605 + ], + "min_contact_pad_to_button": 0.02089386738880717, + "closest_contact_pad": [ + 0.13782145082950586, + -0.46145364790226123, + 0.7891006541194925 + ], + "closest_contact_pad_button": [ + 0.13782145082950586, + -0.4606955647468567, + 0.7682205438613892 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0007580831554045431, + 0.020880110258103324 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 21, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "db8f80900e895c1e3520014dd3126c8937e42b66f57eb949a2577d7254015500", + "visual_seed": 568814835172266557, + "episode_index": 21, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_22_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_22_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b5d22b17e874666fcb1f4067f50b029fbf665490 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_22_success.json @@ -0,0 +1,700 @@ +{ + "episode": 22, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30784423087147167, + -0.12217940325863529, + 1.1650959041280582 + ], + "current_z": 1.1650959041280582, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 0.30398933650864735, + "gripper_z": 1.1562225120362752, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.30357400771621057, + -0.1265533185262946, + 1.1562225120362752 + ], + "object_minus_gripper": [ + 0.004270223155261099, + 0.0043739152676593035, + 0.00887339209178295 + ], + "object_to_gripper_xy": 0.006112768649670231, + "object_to_gripper_z": 0.00887339209178295, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30784423087147167, + -0.14584938392851216, + 1.1650959041280582 + ], + "finger_b": [ + 0.2977582171591713, + -0.12217940325863529, + 1.1650959041280582 + ], + "finger_midpoint": [ + 0.3028012240153215, + -0.13401439359357373, + 1.1650959041280582 + ], + "object_minus_finger_midpoint": [ + 0.005043006856150167, + 0.011834990334938442, + 0.0 + ], + "finger_gap": 0.025729276272702585, + "fingertip_max_gap": 0.09214810540999305, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012864638136351287, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1650959041280582, + "object_top_z": 1.215108892657676, + "finger_top_clearance": 0.050012988529617886, + "fingertip_min_top_clearance": 0.015003896558885399, + "object_projection_between_fingers": 0.8463318128305237, + "object_to_finger_line_xy": 0.009278758837828256, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048574052704996526, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4823136795963303, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 348, + "max_stable_success_frames": 348, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.29014973619533346, + -0.4037530967706713, + 0.8515396633891247 + ], + "target_position": [ + 0.2837757588499951, + -0.404780147450787, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006456192399426507, + "xy_threshold": 0.08, + "gripper_dist": 0.18383202143547198, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396633891247, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07577742671256349, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08762629841142032, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15131848083214233, + "release_required_pad_clearance": 0.05381314920571016, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.6354935880216743, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008666038513183594, + "max_z_decrease": 0.008666038513183594, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350103479124067, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008666038513183594, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.021003883942399763, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008666038513183594, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008666239756221513, + "max_button_displacement": 0.12, + "button_start": [ + 0.13947568833827967, + -0.4610415995121001, + 0.7768088579177856 + ], + "button_final": [ + 0.13947568833827967, + -0.4610415995121001, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13867261521149857, + -0.4623550410077674, + 0.803578616331511 + ], + "closest_button": [ + 0.1395138502120971, + -0.46101185679435724, + 0.7686041593551636 + ], + "closest_ee_minus_button": [ + -0.0008412350005985447, + -0.0013431842134101757, + 0.03497445697634738 + ], + "button_min_z_position": [ + 0.13951769471168513, + -0.4610000848770141, + 0.768142819404602 + ], + "min_active_finger_to_button": 0.14642720746012544, + "closest_active_finger": [ + -0.0019857659935951233, + -0.4450799822807312, + 0.8105820417404175 + ], + "closest_active_finger_button": [ + 0.13947564363479611, + -0.4610406756401061, + 0.7763059139251709 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14146140962839124, + 0.01596069335937489, + 0.03427612781524658 + ], + "min_contact_pad_to_button": 0.021003883942399763, + "closest_contact_pad": [ + 0.13951769471168513, + -0.46366557285799276, + 0.7889768856061158 + ], + "closest_contact_pad_button": [ + 0.13951769471168513, + -0.4610000848770141, + 0.768142819404602 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0026654879809786536, + 0.020834066201513735 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 22, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e27cae1a04e11f2963290c22c432fd85e2e3b9fafc401484e377fc410da25b99", + "visual_seed": 4677141938007308292, + "episode_index": 22, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_23_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fd7788bc9d85640d0cffc6c2936f96e9fb34f833 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_23_success.json @@ -0,0 +1,700 @@ +{ + "episode": 23, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30294785444882677, + -0.1204033488776278, + 1.1673317723147338 + ], + "current_z": 1.1673317723147338, + "required_z": 0.8611065676194106, + "initial_z": 0.7611065676194106, + "lift_margin": 0.3062252046953232, + "gripper_z": 1.1583847610240585, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2988202399736607, + -0.12481301538159818, + 1.1583847610240585 + ], + "object_minus_gripper": [ + 0.004127614475166075, + 0.004409666503970386, + 0.008947011290675322 + ], + "object_to_gripper_xy": 0.006040062907937211, + "object_to_gripper_z": 0.008947011290675322, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30294785444882677, + -0.14378017138506374, + 1.1673317723147338 + ], + "finger_b": [ + 0.2926050243882002, + -0.1204033488776278, + 1.1673317723147338 + ], + "finger_midpoint": [ + 0.2977764394185135, + -0.13209176013134577, + 1.1673317723147338 + ], + "object_minus_finger_midpoint": [ + 0.0051714150303132644, + 0.011688411253717973, + 0.0 + ], + "finger_gap": 0.025562667392257106, + "fingertip_max_gap": 0.09217152617476645, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012781333696128543, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1673317723147338, + "object_top_z": 1.2174416155615022, + "finger_top_clearance": 0.05010984324676837, + "fingertip_min_top_clearance": 0.015032952974030477, + "object_projection_between_fingers": 0.8362933054977005, + "object_to_finger_line_xy": 0.009458422270325222, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04858576308738323, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.379728200553051, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 348, + "max_stable_success_frames": 348, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2875245339602861, + -0.4125475933428658, + 0.8515395309442974 + ], + "target_position": [ + 0.28095918690559146, + -0.41393095100710525, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006709505225856644, + "xy_threshold": 0.08, + "gripper_dist": 0.1826323849179422, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395309442974, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07589131781012264, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08661760385002658, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14991301991834163, + "release_required_pad_clearance": 0.05330880192501329, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.6356199348362446, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008676350116729736, + "max_z_decrease": 0.008676350116729736, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504234423426843, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008676350116729736, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02103991690923593, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008676350116729736, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008676430854628431, + "max_button_displacement": 0.12, + "button_start": [ + 0.13665911555290222, + -0.470192402601242, + 0.7768088579177856 + ], + "button_final": [ + 0.13665911555290222, + -0.470192402601242, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13546659352956153, + -0.471852849299148, + 0.8034823401056301 + ], + "closest_button": [ + 0.13665637373924255, + -0.47015455365180964, + 0.7685014009475708 + ], + "closest_ee_minus_button": [ + -0.001189780209681024, + -0.001698295647338366, + 0.03498093915805933 + ], + "button_min_z_position": [ + 0.13665126264095304, + -0.4701558053493499, + 0.7681325078010559 + ], + "min_active_finger_to_button": 0.1467960788810239, + "closest_active_finger": [ + -0.005432151257991791, + -0.4568675756454468, + 0.8110484480857849 + ], + "closest_active_finger_button": [ + 0.1366598457098007, + -0.47019141912460327, + 0.7766765356063843 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14209199696779248, + 0.013323843479156494, + 0.034371912479400635 + ], + "min_contact_pad_to_button": 0.02103991690923593, + "closest_contact_pad": [ + 0.13665126264095304, + -0.4729347677989947, + 0.7889880938933003 + ], + "closest_contact_pad_button": [ + 0.13665126264095304, + -0.4701558053493499, + 0.7681325078010559 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002778962449644762, + 0.02085558609224436 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 23, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "00ef5fb88a6e164051e7c062ac70f1bd59176835bb89ebd251b9a0b590066aa2", + "visual_seed": 1199974700002216213, + "episode_index": 23, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_24_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_24_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bd9fc7411f61b9a5007e4a742d648be300bd3956 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_24_success.json @@ -0,0 +1,700 @@ +{ + "episode": 24, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30385829689302707, + -0.11724248769281233, + 1.165846811233663 + ], + "current_z": 1.165846811233663, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.304740303218897, + "gripper_z": 1.1568067487270906, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29987318095633597, + -0.12160563844901263, + 1.1568067487270906 + ], + "object_minus_gripper": [ + 0.003985115936691097, + 0.004363150756200307, + 0.009040062506572522 + ], + "object_to_gripper_xy": 0.005909165216018306, + "object_to_gripper_z": 0.009040062506572522, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30385829689302707, + -0.14045465706501087, + 1.165846811233663 + ], + "finger_b": [ + 0.29349614549836345, + -0.11724248769281233, + 1.165846811233663 + ], + "finger_midpoint": [ + 0.2986772211956953, + -0.1288485723789116, + 1.165846811233663 + ], + "object_minus_finger_midpoint": [ + 0.005181075697331783, + 0.011606084686099263, + 0.0 + ], + "finger_gap": 0.02542005091437783, + "fingertip_max_gap": 0.09238970553232181, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012710025457188898, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.165846811233663, + "object_top_z": 1.2159710042439071, + "finger_top_clearance": 0.05012419301024407, + "fingertip_min_top_clearance": 0.015037257903073253, + "object_projection_between_fingers": 0.8338321371654074, + "object_to_finger_line_xy": 0.009462137351473587, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04869485276616091, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5917481858127742, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 347, + "max_stable_success_frames": 347, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.290307337940138, + -0.4093648057170197, + 0.8515395621568813 + ], + "target_position": [ + 0.28355497804990254, + -0.4106577329471333, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006875029084275217, + "xy_threshold": 0.08, + "gripper_dist": 0.1846234460104352, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395621568813, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07550760821427772, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08597222758805788, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15267936506620292, + "release_required_pad_clearance": 0.05298611379402894, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0063781844423336, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008704781532287598, + "max_z_decrease": 0.008704781532287598, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03494595219341844, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008704781532287598, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020742957257606436, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 122, + "max_z_decrease_with_contact_point": 0.008704781532287598, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00870517446827274, + "max_button_displacement": 0.12, + "button_start": [ + 0.13925489783287048, + -0.4669191837310791, + 0.7768088579177856 + ], + "button_final": [ + 0.13925489783287048, + -0.4669191837310791, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13910262861765887, + -0.465633666015297, + 0.8030258424572052 + ], + "closest_button": [ + 0.13933731615543365, + -0.4669122397899628, + 0.768104076385498 + ], + "closest_ee_minus_button": [ + -0.00023468753777478035, + 0.0012785737746658365, + 0.03492176607170716 + ], + "button_min_z_position": [ + 0.13933731615543365, + -0.4669122397899628, + 0.768104076385498 + ], + "min_active_finger_to_button": 0.1454423045127715, + "closest_active_finger": [ + 0.011379577219486237, + -0.5271923542022705, + 0.810425877571106 + ], + "closest_active_finger_button": [ + 0.1392548829317093, + -0.46691787242889404, + 0.7762446403503418 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12787530571222305, + -0.060274481773376465, + 0.03418123722076416 + ], + "min_contact_pad_to_button": 0.020742957257606436, + "closest_contact_pad": [ + 0.13933731615543365, + -0.46695462325064685, + 0.7888469903426341 + ], + "closest_contact_pad_button": [ + 0.13933731615543365, + -0.4669122397899628, + 0.768104076385498 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -4.238346068402565e-05, + 0.02074291395713601 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 24, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8bdc94ce7df158992b710f27aea7b2e36179ff4db67f4b1b1b1ee6a9abe9fad1", + "visual_seed": 7705734010946045871, + "episode_index": 24, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_25_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ca5bc58ec24084e1d4ef1bca45a2dbd8ab34684c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_25_success.json @@ -0,0 +1,700 @@ +{ + "episode": 25, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.308544362175859, + -0.11751345975439113, + 1.1661949460391878 + ], + "current_z": 1.1661949460391878, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.30508849762906676, + "gripper_z": 1.1571410249329463, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3045470376817502, + -0.12191166954061561, + 1.1571410249329463 + ], + "object_minus_gripper": [ + 0.003997324494108834, + 0.0043982097862244746, + 0.00905392110624148 + ], + "object_to_gripper_xy": 0.0059433031585847266, + "object_to_gripper_z": 0.00905392110624148, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.308544362175859, + -0.14075470286627065, + 1.1661949460391878 + ], + "finger_b": [ + 0.2981584014152186, + -0.11751345975439113, + 1.1661949460391878 + ], + "finger_midpoint": [ + 0.3033513817955388, + -0.12913408131033088, + 1.1661949460391878 + ], + "object_minus_finger_midpoint": [ + 0.0051929803803202335, + 0.01162062155593975, + 0.0 + ], + "finger_gap": 0.02545630692592799, + "fingertip_max_gap": 0.09230705241201134, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012728153462964, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1661949460391878, + "object_top_z": 1.2163558772692902, + "finger_top_clearance": 0.050160931230102346, + "fingertip_min_top_clearance": 0.01504827936903067, + "object_projection_between_fingers": 0.8335428104843327, + "object_to_finger_line_xy": 0.009482233212022972, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04865352620600567, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5676504274021954, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 341, + "max_stable_success_frames": 341, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2874495915207166, + -0.4033407437119888, + 0.8515394983498555 + ], + "target_position": [ + 0.27947836995228176, + -0.4047749540543966, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008099218023942197, + "xy_threshold": 0.08, + "gripper_dist": 0.18434443440020895, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515394983498555, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07526995622817165, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08539261005701364, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15311459119180335, + "release_required_pad_clearance": 0.05269630502850682, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4476235609799751, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00875788927078247, + "max_z_decrease": 0.00875788927078247, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504145733846249, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00875788927078247, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.02087663026330126, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00875788927078247, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008757956491575524, + "max_button_displacement": 0.12, + "button_start": [ + 0.13517829775810242, + -0.4610364139080047, + 0.7768088579177856 + ], + "button_final": [ + 0.13517829775810242, + -0.4610364139080047, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13304439584494038, + -0.4605812758791188, + 0.8033952379538352 + ], + "closest_button": [ + 0.1351785808801651, + -0.4609910845756531, + 0.7684212327003479 + ], + "closest_ee_minus_button": [ + -0.0021341850352247227, + 0.0004098086965342862, + 0.03497400525348726 + ], + "button_min_z_position": [ + 0.13518406450748444, + -0.4610025882720947, + 0.7680509686470032 + ], + "min_active_finger_to_button": 0.14757507195890512, + "closest_active_finger": [ + 0.006839551031589508, + -0.5253022313117981, + 0.8104193806648254 + ], + "closest_active_finger_button": [ + 0.13517609238624573, + -0.46103554964065546, + 0.7760984301567078 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12833654135465622, + -0.06426668167114263, + 0.034320950508117676 + ], + "min_contact_pad_to_button": 0.02087663026330126, + "closest_contact_pad": [ + 0.13518406450748444, + -0.4615968469402566, + 0.7889191393331438 + ], + "closest_contact_pad_button": [ + 0.13518406450748444, + -0.4610025882720947, + 0.7680509686470032 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0005942586681618733, + 0.020868170686140664 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 25, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1d61a3c824e53326c917bda8d4b50caa9e4310abbac85beb1f5cf1f41edc3eab", + "visual_seed": 2776241101922314236, + "episode_index": 25, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_26_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_26_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d06c7fb16a8b64809d43839f65884c23fbe8c9a2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_26_success.json @@ -0,0 +1,700 @@ +{ + "episode": 26, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3054573208291496, + -0.11915071382513297, + 1.165912350839566 + ], + "current_z": 1.165912350839566, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.3048059620340895, + "gripper_z": 1.1569386525198204, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.30138035789161377, + -0.12357991599088311, + 1.1569386525198204 + ], + "object_minus_gripper": [ + 0.004076962937535844, + 0.004429202165750143, + 0.008973698319745482 + ], + "object_to_gripper_xy": 0.006019921811712063, + "object_to_gripper_z": 0.008973698319745482, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3054573208291496, + -0.14247809919885743, + 1.165912350839566 + ], + "finger_b": [ + 0.2950515789736553, + -0.11915071382513297, + 1.165912350839566 + ], + "finger_midpoint": [ + 0.3002544499014025, + -0.1308144065119952, + 1.165912350839566 + ], + "object_minus_finger_midpoint": [ + 0.0052028709277471274, + 0.011663692686862223, + 0.0 + ], + "finger_gap": 0.025543029811231088, + "fingertip_max_gap": 0.09211525092258502, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012771514905615526, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.165912350839566, + "object_top_z": 1.2159762065933002, + "finger_top_clearance": 0.05006385575373429, + "fingertip_min_top_clearance": 0.015019156726120319, + "object_projection_between_fingers": 0.8340408220193635, + "object_to_finger_line_xy": 0.00950313068404596, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04855762546129251, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4044117508736553, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 348, + "max_stable_success_frames": 348, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.28380233268419247, + -0.41147929892715507, + 0.8515395741862981 + ], + "target_position": [ + 0.27705615985494725, + -0.4128101511500437, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006876191931673675, + "xy_threshold": 0.08, + "gripper_dist": 0.18343864977401406, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395741862981, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07565852640329772, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0870121323393153, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15120148620280438, + "release_required_pad_clearance": 0.053506066169657654, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.0244084744095874, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008790791034698486, + "max_z_decrease": 0.008790791034698486, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035012052204585635, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008790791034698486, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020987520539840963, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 122, + "max_z_decrease_with_contact_point": 0.008790791034698486, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008791039438602785, + "max_button_displacement": 0.12, + "button_start": [ + 0.13275608420372007, + -0.46907159686088556, + 0.7768088579177856 + ], + "button_final": [ + 0.13275608420372007, + -0.46907159686088556, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13174402176790379, + -0.47021877867706546, + 0.803572263555598 + ], + "closest_button": [ + 0.1327899098396301, + -0.4690452814102172, + 0.7685955166816711 + ], + "closest_ee_minus_button": [ + -0.0010458880717263142, + -0.001173497266848289, + 0.03497674687392682 + ], + "button_min_z_position": [ + 0.13280284404754633, + -0.46902489662170405, + 0.7680180668830872 + ], + "min_active_finger_to_button": 0.14675164729774093, + "closest_active_finger": [ + -0.009211793541908264, + -0.4550347328186035, + 0.8106881976127625 + ], + "closest_active_finger_button": [ + 0.13275656104087824, + -0.4690698385238647, + 0.7762781977653503 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1419683545827865, + 0.014035105705261175, + 0.03440999984741211 + ], + "min_contact_pad_to_button": 0.020987520539840963, + "closest_contact_pad": [ + 0.13280284404754633, + -0.47130495131505656, + 0.78888136885103 + ], + "closest_contact_pad_button": [ + 0.13280284404754633, + -0.46902489662170405, + 0.7680180668830872 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002280054693352518, + 0.020863301967942838 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 26, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2db142d23342a2082df7b64afba473ffa49b0dd65f257f484d1acdccb52211e6", + "visual_seed": 7104555330918348665, + "episode_index": 26, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_27_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_27_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2f09c55c85a2cdee9b1f294201a2354c5779800a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_27_success.json @@ -0,0 +1,700 @@ +{ + "episode": 27, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3047535448296361, + -0.11933435011185119, + 1.1654507179646552 + ], + "current_z": 1.1654507179646552, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.3043442099498891, + "gripper_z": 1.1565847812971206, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3005936246709104, + -0.12355960745837564, + 1.1565847812971206 + ], + "object_minus_gripper": [ + 0.004159920158725738, + 0.004225257346524458, + 0.008865936667534546 + ], + "object_to_gripper_xy": 0.005929395869001468, + "object_to_gripper_z": 0.008865936667534546, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3047535448296361, + -0.14302605892749198, + 1.1654507179646552 + ], + "finger_b": [ + 0.2950320215216662, + -0.11933435011185119, + 1.1654507179646552 + ], + "finger_midpoint": [ + 0.29989278317565116, + -0.13118020451967158, + 1.1654507179646552 + ], + "object_minus_finger_midpoint": [ + 0.0048607616539849685, + 0.011845854407820391, + 0.0 + ], + "finger_gap": 0.025608691533003294, + "fingertip_max_gap": 0.09285648219576956, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01280434576650164, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1654507179646552, + "object_top_z": 1.215500261770297, + "finger_top_clearance": 0.05004954380564186, + "fingertip_min_top_clearance": 0.015014863141692592, + "object_projection_between_fingers": 0.8558900837814535, + "object_to_finger_line_xy": 0.008993801934787033, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04892824109788478, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.1510963867137587, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 343, + "max_stable_success_frames": 343, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.28576420575857214, + -0.40573552039171923, + 0.8515396078680924 + ], + "target_position": [ + 0.2796824300970379, + -0.4062258399628369, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006101508705152449, + "xy_threshold": 0.08, + "gripper_dist": 0.18205606025455237, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396078680924, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07517960944197838, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0875021896227025, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15090700432971957, + "release_required_pad_clearance": 0.05375109481135125, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.5113948718880894, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008684277534484863, + "max_z_decrease": 0.008684277534484863, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503776663612683, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008684277534484863, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.02090539104558921, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008684277534484863, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00868445585819019, + "max_button_displacement": 0.12, + "button_start": [ + 0.13538235425949094, + -0.46248731017112726, + 0.7768088579177856 + ], + "button_final": [ + 0.13538235425949094, + -0.46248731017112726, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13694135849404945, + -0.46215867593799137, + 0.8031280252614416 + ], + "closest_button": [ + 0.1354173868894577, + -0.4624440670013427, + 0.7681245803833008 + ], + "closest_ee_minus_button": [ + 0.0015239716045917506, + 0.0002853910633513479, + 0.03500344487814078 + ], + "button_min_z_position": [ + 0.1354173868894577, + -0.4624440670013427, + 0.7681245803833008 + ], + "min_active_finger_to_button": 0.14432252438857476, + "closest_active_finger": [ + -0.0039307475090026855, + -0.4470131993293762, + 0.810716450214386 + ], + "closest_active_finger_button": [ + 0.1353825181722641, + -0.462485134601593, + 0.7763445973396301 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13931326568126678, + 0.015471935272216797, + 0.03437185287475586 + ], + "min_contact_pad_to_button": 0.02090539104558921, + "closest_contact_pad": [ + 0.1354173868894577, + -0.46325900055754876, + 0.7890140815278464 + ], + "closest_contact_pad_button": [ + 0.1354173868894577, + -0.4624440670013427, + 0.7681245803833008 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0008149335562060434, + 0.020889501144545575 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 27, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "04819bcad0f467ce1bd0c3ca129ce5a1ead7fa0a96a884d272b84240c77fbbe4", + "visual_seed": 1063042101452109195, + "episode_index": 27, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_28_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_28_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7f9fcf6bcce2bfe2c319bcbe31cfc8e0fb298b82 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_28_success.json @@ -0,0 +1,700 @@ +{ + "episode": 28, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30653698098087817, + -0.12467087732237289, + 1.165923788752465 + ], + "current_z": 1.165923788752465, + "required_z": 0.8611063888054766, + "initial_z": 0.7611063888054767, + "lift_margin": 0.3048173999469883, + "gripper_z": 1.1569606139111668, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3023544369627372, + -0.12901702932663622, + 1.1569606139111668 + ], + "object_minus_gripper": [ + 0.0041825440181409435, + 0.004346152004263332, + 0.00896317484129816 + ], + "object_to_gripper_xy": 0.006031808328175619, + "object_to_gripper_z": 0.00896317484129816, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30653698098087817, + -0.148255075578199, + 1.165923788752465 + ], + "finger_b": [ + 0.29648072746450227, + -0.12467087732237289, + 1.165923788752465 + ], + "finger_midpoint": [ + 0.30150885422269025, + -0.13646297645028593, + 1.165923788752465 + ], + "object_minus_finger_midpoint": [ + 0.005028126758187923, + 0.011792099127913042, + 0.0 + ], + "finger_gap": 0.025638694236558422, + "fingertip_max_gap": 0.09198528085220523, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012819347118279187, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.165923788752465, + "object_top_z": 1.2160196111507233, + "finger_top_clearance": 0.05009582239825838, + "fingertip_min_top_clearance": 0.015028746719477515, + "object_projection_between_fingers": 0.846155979697322, + "object_to_finger_line_xy": 0.009250419481304032, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048492640426102615, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.333585532147923, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 346, + "max_stable_success_frames": 346, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.28436763500851275, + -0.40569753960579474, + 0.8515394960573924 + ], + "target_position": [ + 0.27765232689665453, + -0.40692175796926633, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006825985177148414, + "xy_threshold": 0.08, + "gripper_dist": 0.18328787917211342, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515394960573924, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0756622752845564, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08777232873448886, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15095735215630782, + "release_required_pad_clearance": 0.05388616436724443, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.78200287542196, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008451342582702637, + "max_z_decrease": 0.008451342582702637, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502081369127119, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008451342582702637, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.020867124976419404, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008451342582702637, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008451385216058429, + "max_button_displacement": 0.12, + "button_start": [ + 0.13335224986076355, + -0.46318322420120234, + 0.7768088579177856 + ], + "button_final": [ + 0.13335224986076355, + -0.46318322420120234, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13332130069338113, + -0.4618466960545041, + 0.8033538002638869 + ], + "closest_button": [ + 0.13335657119750977, + -0.4631567299365997, + 0.768357515335083 + ], + "closest_ee_minus_button": [ + -3.527050412863164e-05, + 0.0013100338820955515, + 0.03499628492880391 + ], + "button_min_z_position": [ + 0.13335657119750977, + -0.4631567299365997, + 0.768357515335083 + ], + "min_active_finger_to_button": 0.14534062250223378, + "closest_active_finger": [ + 0.006190024316310883, + -0.524653971195221, + 0.8109052181243896 + ], + "closest_active_finger_button": [ + 0.1333532929420471, + -0.4631809294223785, + 0.7766347527503967 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1271632686257362, + -0.06147304177284246, + 0.03427046537399292 + ], + "min_contact_pad_to_button": 0.020867124976419404, + "closest_contact_pad": [ + 0.13335657119750977, + -0.4631567299365997, + 0.7892246403115024 + ], + "closest_contact_pad_button": [ + 0.13335657119750977, + -0.4631567299365997, + 0.768357515335083 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020867124976419404 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 28, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f1c85de55faecf86f58d4249c3226fb655ec42436f95e4c6a213b72e0505b02b", + "visual_seed": 9167355089377355359, + "episode_index": 28, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_29_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_29_success.json new file mode 100644 index 0000000000000000000000000000000000000000..67194d81904e323498bf5628846c89991a19296b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_29_success.json @@ -0,0 +1,700 @@ +{ + "episode": 29, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3094848446984981, + -0.11588688209501663, + 1.166704198942715 + ], + "current_z": 1.166704198942715, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.3055978101372385, + "gripper_z": 1.1578395684777099, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.30526255590073115, + -0.1203413417788405, + 1.1578395684777099 + ], + "object_minus_gripper": [ + 0.0042222887977669266, + 0.0044544596838238665, + 0.008864630465005074 + ], + "object_to_gripper_xy": 0.006137583707499255, + "object_to_gripper_z": 0.008864630465005074, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3094848446984981, + -0.139381444563838, + 1.166704198942715 + ], + "finger_b": [ + 0.2990873337155464, + -0.11588688209501663, + 1.166704198942715 + ], + "finger_midpoint": [ + 0.30428608920702227, + -0.1276341633294273, + 1.166704198942715 + ], + "object_minus_finger_midpoint": [ + 0.005198755491475804, + 0.011747281234410684, + 0.0 + ], + "finger_gap": 0.025692463880327827, + "fingertip_max_gap": 0.09219104874462938, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012846231940163903, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.166704198942715, + "object_top_z": 1.2167056064178632, + "finger_top_clearance": 0.05000140747514825, + "fingertip_min_top_clearance": 0.015000422242544442, + "object_projection_between_fingers": 0.8362251289064943, + "object_to_finger_line_xy": 0.009508039884654974, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048595524372314694, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5050344720510027, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 352, + "max_stable_success_frames": 352, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2877488203098477, + -0.4065186745169222, + 0.8515396132597307 + ], + "target_position": [ + 0.2819983441299033, + -0.40728499196637064, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005801311811085237, + "xy_threshold": 0.08, + "gripper_dist": 0.18267676430650132, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396132597307, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07556745228462526, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08612733253859327, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15063304368497793, + "release_required_pad_clearance": 0.053063666269296636, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1568913646567962, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008791804313659668, + "max_z_decrease": 0.008791804313659668, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03506830605270623, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008791804313659668, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.02105428917787332, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008791804313659668, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00879197534173256, + "max_button_displacement": 0.12, + "button_start": [ + 0.13769826292991635, + -0.46354645490646357, + 0.7768088579177856 + ], + "button_final": [ + 0.13769826292991635, + -0.46354645490646357, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1393973303361766, + -0.4649825685948492, + 0.8030132365262229 + ], + "closest_button": [ + 0.13771314918994904, + -0.46349367499351496, + 0.768017053604126 + ], + "closest_ee_minus_button": [ + 0.0016841811462275647, + -0.0014888936013342513, + 0.03499618292209694 + ], + "button_min_z_position": [ + 0.13771314918994904, + -0.46349367499351496, + 0.768017053604126 + ], + "min_active_finger_to_button": 0.14394011495124334, + "closest_active_finger": [ + -0.0011612027883529663, + -0.4473397135734558, + 0.8110531568527222 + ], + "closest_active_finger_button": [ + 0.13769641518592834, + -0.46354630589485163, + 0.7767797708511353 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1388576179742813, + 0.01620659232139582, + 0.034273386001586914 + ], + "min_contact_pad_to_button": 0.02105428917787332, + "closest_contact_pad": [ + 0.13771314918994904, + -0.46630380534747556, + 0.7888829650431037 + ], + "closest_contact_pad_button": [ + 0.13771314918994904, + -0.46349367499351496, + 0.768017053604126 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002810130353960605, + 0.020865911438977758 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 29, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "99af5cb63aad64e712fe74b5a1900cc10d9ead6094bf0284cdfb694dddd54a52", + "visual_seed": 2491145008934078101, + "episode_index": 29, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_2_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_2_success.json new file mode 100644 index 0000000000000000000000000000000000000000..55df089d5869203ea61cbba859bf7587a8790883 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_2_success.json @@ -0,0 +1,700 @@ +{ + "episode": 2, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3009962032176425, + -0.1195866615435626, + 1.16605720345143 + ], + "current_z": 1.16605720345143, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.30495075504130875, + "gripper_z": 1.1570720913555022, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29713213307928077, + -0.12390967285350421, + 1.1570720913555022 + ], + "object_minus_gripper": [ + 0.003864070138361708, + 0.004323011309941616, + 0.008985112095927894 + ], + "object_to_gripper_xy": 0.005798229455623655, + "object_to_gripper_z": 0.008985112095927894, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3009962032176425, + -0.14269634812941634, + 1.16605720345143 + ], + "finger_b": [ + 0.290701549184605, + -0.1195866615435626, + 1.16605720345143 + ], + "finger_midpoint": [ + 0.29584887620112377, + -0.13114150483648945, + 1.16605720345143 + ], + "object_minus_finger_midpoint": [ + 0.00514732701651871, + 0.011554843292926859, + 0.0 + ], + "finger_gap": 0.02529896274071969, + "fingertip_max_gap": 0.0926550960063707, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012649481370359823, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.16605720345143, + "object_top_z": 1.216266150647392, + "finger_top_clearance": 0.05020894719596192, + "fingertip_min_top_clearance": 0.015062684158788574, + "object_projection_between_fingers": 0.8344161099139638, + "object_to_finger_line_xy": 0.00940379377018375, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04882754800318535, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6990236768060951, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 347, + "max_stable_success_frames": 347, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.28902892030981914, + -0.4111716131793634, + 0.8515395614710956 + ], + "target_position": [ + 0.28241953156841515, + -0.4122828090121544, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006702147097297246, + "xy_threshold": 0.08, + "gripper_dist": 0.18492488429188694, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395614710956, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07524425042112776, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08507359888353526, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15363010267822755, + "release_required_pad_clearance": 0.05253679944176763, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.1426524968203514, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008882284164428711, + "max_z_decrease": 0.008882284164428711, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034991889911090646, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008882284164428711, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.02088520528072883, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 122, + "max_z_decrease_with_contact_point": 0.008882284164428711, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00888264839247012, + "max_button_displacement": 0.12, + "button_start": [ + 0.13811945915222162, + -0.46854427456855763, + 0.7768088579177856 + ], + "button_final": [ + 0.13811945915222162, + -0.46854427456855763, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13718633381805537, + -0.46879244372246726, + 0.803577381801222 + ], + "closest_button": [ + 0.13815943896770472, + -0.4685174524784087, + 0.7686001062393188 + ], + "closest_ee_minus_button": [ + -0.0009731051496493504, + -0.00027499124405855335, + 0.03497727556190311 + ], + "button_min_z_position": [ + 0.1381848901510238, + -0.468497484922409, + 0.7679265737533569 + ], + "min_active_finger_to_button": 0.14674540473698464, + "closest_active_finger": [ + -0.0037363097071647644, + -0.453379362821579, + 0.8110737800598145 + ], + "closest_active_finger_button": [ + 0.13812319934368128, + -0.4685418903827666, + 0.776719868183136 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14185950905084604, + 0.015162527561187633, + 0.03435391187667847 + ], + "min_contact_pad_to_button": 0.02088520528072883, + "closest_contact_pad": [ + 0.1381848901510238, + -0.4698929247988815, + 0.7887651089026743 + ], + "closest_contact_pad_button": [ + 0.1381848901510238, + -0.468497484922409, + 0.7679265737533569 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001395439876472504, + 0.020838535149317328 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 2, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d6ac6301f388d842962e203d37ddc221c6a0551ea4f5db6bb18c8dd8fb67c00a", + "visual_seed": 3083974150321380393, + "episode_index": 2, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_30_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_30_success.json new file mode 100644 index 0000000000000000000000000000000000000000..beabd3bd49a64fba86e034fc19a0c84c5540e79f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_30_success.json @@ -0,0 +1,700 @@ +{ + "episode": 30, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30583854056500615, + -0.12317530055691002, + 1.1671080847435995 + ], + "current_z": 1.1671080847435995, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.3060016363334783, + "gripper_z": 1.1582392383588473, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3015567224494543, + -0.12756007439420758, + 1.1582392383588473 + ], + "object_minus_gripper": [ + 0.004281818115551839, + 0.004384773837297559, + 0.00886884638475216 + ], + "object_to_gripper_xy": 0.0061286383462329595, + "object_to_gripper_z": 0.00886884638475216, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30583854056500615, + -0.14681489274196857, + 1.1671080847435995 + ], + "finger_b": [ + 0.2957161334995221, + -0.12317530055691002, + 1.1671080847435995 + ], + "finger_midpoint": [ + 0.3007773370322641, + -0.1349950966494393, + 1.1671080847435995 + ], + "object_minus_finger_midpoint": [ + 0.005061203532742031, + 0.01181979609252927, + 0.0 + ], + "finger_gap": 0.025715626445320033, + "fingertip_max_gap": 0.09196309951178724, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01285781322266001, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1671080847435995, + "object_top_z": 1.2171996183574885, + "finger_top_clearance": 0.05009153361388896, + "fingertip_min_top_clearance": 0.015027460084166687, + "object_projection_between_fingers": 0.8450564937391557, + "object_to_finger_line_xy": 0.009305220522937955, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048481549755893624, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3489138027169507, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 344, + "max_stable_success_frames": 344, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2821110934725429, + -0.4050808475289823, + 0.8515396510472139 + ], + "target_position": [ + 0.2747963077107415, + -0.406373936406638, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0074282009656826825, + "xy_threshold": 0.08, + "gripper_dist": 0.18523415996314677, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396510472139, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0756667719474535, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08678444409838347, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15291868063825487, + "release_required_pad_clearance": 0.05339222204919174, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.7996679659228718, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008593261241912842, + "max_z_decrease": 0.008593261241912842, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03505204420027254, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008593261241912842, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02105227262162414, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008593261241912842, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00859338257956293, + "max_button_displacement": 0.12, + "button_start": [ + 0.13049623370170588, + -0.4626353979110717, + 0.7768088579177856 + ], + "button_final": [ + 0.13049623370170588, + -0.4626353979110717, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13170730983912257, + -0.46404422657539396, + 0.8032775841275991 + ], + "closest_button": [ + 0.13048118352890012, + -0.4625976979732513, + 0.7682768702507019 + ], + "closest_ee_minus_button": [ + 0.0012261263102224529, + -0.0014465286021426715, + 0.03500071387689718 + ], + "button_min_z_position": [ + 0.13047525286674494, + -0.46259483695030207, + 0.7682155966758728 + ], + "min_active_finger_to_button": 0.1445081335981269, + "closest_active_finger": [ + -0.009138256311416626, + -0.44845205545425415, + 0.8108736276626587 + ], + "closest_active_finger_button": [ + 0.1304968893527984, + -0.4626330137252807, + 0.7764711976051331 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13963514566421503, + 0.014180958271026556, + 0.034402430057525635 + ], + "min_contact_pad_to_button": 0.02105227262162414, + "closest_contact_pad": [ + 0.13047525286674494, + -0.4651768690129824, + 0.7891089279794844 + ], + "closest_contact_pad_button": [ + 0.13047525286674494, + -0.46259483695030207, + 0.7682155966758728 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0025820320626803173, + 0.020893331303611595 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 30, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0f818236ab8b8e6044b0b7cdf349611f4a61538bc620c84ae884c3474dff7d85", + "visual_seed": 3041205495053527480, + "episode_index": 30, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_31_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_31_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b66fb01e94e6ad4f60d76677880ca0588f132e9d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_31_success.json @@ -0,0 +1,700 @@ +{ + "episode": 31, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30390070317088586, + -0.11676726505571496, + 1.1669791290061662 + ], + "current_z": 1.1669791290061662, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.3058726805960451, + "gripper_z": 1.1581832211928322, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2996325450189262, + -0.12123794694394796, + 1.1581832211928322 + ], + "object_minus_gripper": [ + 0.0042681581519596334, + 0.004470681888233005, + 0.008795907813333947 + ], + "object_to_gripper_xy": 0.0061809522369869595, + "object_to_gripper_z": 0.008795907813333947, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30390070317088586, + -0.14028769913193173, + 1.1669791290061662 + ], + "finger_b": [ + 0.29350359932729564, + -0.11676726505571496, + 1.1669791290061662 + ], + "finger_midpoint": [ + 0.2987021512490907, + -0.12852748209382334, + 1.1669791290061662 + ], + "object_minus_finger_midpoint": [ + 0.005198551921795136, + 0.011760217038108381, + 0.0 + ], + "finger_gap": 0.02571595978119537, + "fingertip_max_gap": 0.09191798054189612, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01285797989059769, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1669791290061662, + "object_top_z": 1.217044754023921, + "finger_top_clearance": 0.05006562501775491, + "fingertip_min_top_clearance": 0.015019687505326439, + "object_projection_between_fingers": 0.8365370668746176, + "object_to_finger_line_xy": 0.009509440737092999, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04845899027094806, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2867461839539853, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 348, + "max_stable_success_frames": 348, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.289796263084813, + -0.40855518713383376, + 0.8515395724310181 + ], + "target_position": [ + 0.2817740279578121, + -0.41004593766693803, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008159570674051288, + "xy_threshold": 0.08, + "gripper_dist": 0.1863782330828779, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395724310181, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0751423135108798, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08511411554626945, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15542261998245285, + "release_required_pad_clearance": 0.05255705777313473, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.18130816812573258, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00877237319946289, + "max_z_decrease": 0.00877237319946289, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035024074053826924, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00877237319946289, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.021064267127329, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00877237319946289, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008772620874072386, + "max_button_displacement": 0.12, + "button_start": [ + 0.1374739557504654, + -0.4663074016571044, + 0.7768088579177856 + ], + "button_final": [ + 0.1374739557504654, + -0.4663074016571044, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13716684385995204, + -0.4680451210043157, + 0.8035891197795013 + ], + "closest_button": [ + 0.13751249015331268, + -0.466280162334442, + 0.7686112523078918 + ], + "closest_ee_minus_button": [ + -0.00034564629336064634, + -0.0017649586698736952, + 0.03497786747160947 + ], + "button_min_z_position": [ + 0.13751602172851562, + -0.46625664830207814, + 0.7680364847183228 + ], + "min_active_finger_to_button": 0.14591886302644275, + "closest_active_finger": [ + -0.0034470781683921814, + -0.45024681091308594, + 0.8105171918869019 + ], + "closest_active_finger_button": [ + 0.13747428357601166, + -0.4663063287734984, + 0.77623051404953 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14092136174440384, + 0.016059517860412487, + 0.034286677837371826 + ], + "min_contact_pad_to_button": 0.021064267127329, + "closest_contact_pad": [ + 0.13751602172851562, + -0.4693704792520678, + 0.7888693291334851 + ], + "closest_contact_pad_button": [ + 0.13751602172851562, + -0.46625664830207814, + 0.7680364847183228 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.003113830949989682, + 0.02083284441516231 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 31, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ad84bb294d5d26047cef09bab621870678a4ed9f273286a94c4649e873fc0a3c", + "visual_seed": 523385932062072833, + "episode_index": 31, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_32_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_32_success.json new file mode 100644 index 0000000000000000000000000000000000000000..aa96305c317b1814307b1d972f2a8e3d8101bd7d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_32_success.json @@ -0,0 +1,700 @@ +{ + "episode": 32, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30280796005010174, + -0.12393007780017762, + 1.1658396415618104 + ], + "current_z": 1.1658396415618104, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.30473313354704434, + "gripper_z": 1.1568562358404242, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2986569785595058, + -0.12833802324140675, + 1.1568562358404242 + ], + "object_minus_gripper": [ + 0.004150981490595951, + 0.004407945441229133, + 0.008983405721386228 + ], + "object_to_gripper_xy": 0.006054802255080084, + "object_to_gripper_z": 0.008983405721386228, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30280796005010174, + -0.1474213638228897, + 1.1658396415618104 + ], + "finger_b": [ + 0.2925901508739789, + -0.12393007780017762, + 1.1658396415618104 + ], + "finger_midpoint": [ + 0.29769905546204034, + -0.13567572081153367, + 1.1658396415618104 + ], + "object_minus_finger_midpoint": [ + 0.005108904588061403, + 0.011745643011356055, + 0.0 + ], + "finger_gap": 0.02561726260474621, + "fingertip_max_gap": 0.09180745649613595, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012808631302373107, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1658396415618104, + "object_top_z": 1.2159202841265069, + "finger_top_clearance": 0.050080642564696465, + "fingertip_min_top_clearance": 0.015024192769408905, + "object_projection_between_fingers": 0.8409073430735319, + "object_to_finger_line_xy": 0.009369833209162749, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048403728248067976, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0692362244231344, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 347, + "max_stable_success_frames": 347, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2824596058832233, + -0.411700878065407, + 0.8515395005242461 + ], + "target_position": [ + 0.27584990740167525, + -0.41286633521533433, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00671166181994407, + "xy_threshold": 0.08, + "gripper_dist": 0.18177647279790723, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395005242461, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07560498461898064, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08595197437669815, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14966039612053736, + "release_required_pad_clearance": 0.052975987188349075, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9867433583764921, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008656203746795654, + "max_z_decrease": 0.008656203746795654, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499045981160299, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008656203746795654, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020931471351034896, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008656203746795654, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008656478586243306, + "max_button_displacement": 0.12, + "button_start": [ + 0.1315498352050781, + -0.4691278040409087, + 0.7768088579177856 + ], + "button_final": [ + 0.1315498352050781, + -0.4691278040409087, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13083848558289451, + -0.46970453846849425, + 0.8036014649111085 + ], + "closest_button": [ + 0.13159222900867462, + -0.4691024720668792, + 0.7686243057250977 + ], + "closest_ee_minus_button": [ + -0.0007537434257801068, + -0.0006020664016150312, + 0.03497715918601085 + ], + "button_min_z_position": [ + 0.13160631060600278, + -0.46908819675445546, + 0.76815265417099 + ], + "min_active_finger_to_button": 0.1464343014638773, + "closest_active_finger": [ + -0.009717412292957306, + -0.45156440138816833, + 0.8107249736785889 + ], + "closest_active_finger_button": [ + 0.13154987990856168, + -0.4691259562969207, + 0.7764008045196533 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14126729220151898, + 0.017561554908752386, + 0.03432416915893555 + ], + "min_contact_pad_to_button": 0.020931471351034896, + "closest_contact_pad": [ + 0.13160631060600278, + -0.4710538312393256, + 0.7889916266502435 + ], + "closest_contact_pad_button": [ + 0.13160631060600278, + -0.46908819675445546, + 0.76815265417099 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001965634484870138, + 0.02083897247925348 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 32, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "52c568b45f6b692efb5c2ad724622bdfd296c4c15324ea58202ab89944034357", + "visual_seed": 8761834213875987337, + "episode_index": 32, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_33_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_33_success.json new file mode 100644 index 0000000000000000000000000000000000000000..01f661253979c7adc89cbcab25610bd9ad48aa8e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_33_success.json @@ -0,0 +1,700 @@ +{ + "episode": 33, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30877153847245314, + -0.12212682509040801, + 1.1658392489483114 + ], + "current_z": 1.1658392489483114, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.3047327409335453, + "gripper_z": 1.156856990207178, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3046396017833242, + -0.12647362056912326, + 1.156856990207178 + ], + "object_minus_gripper": [ + 0.004131936689128923, + 0.0043467954787152485, + 0.008982258741133453 + ], + "object_to_gripper_xy": 0.005997293701057921, + "object_to_gripper_z": 0.008982258741133453, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30877153847245314, + -0.1456649247514947, + 1.1658392489483114 + ], + "finger_b": [ + 0.2986787375138463, + -0.12212682509040801, + 1.1658392489483114 + ], + "finger_midpoint": [ + 0.3037251379931497, + -0.13389587492095134, + 1.1658392489483114 + ], + "object_minus_finger_midpoint": [ + 0.005046400479303437, + 0.011769049830543332, + 0.0 + ], + "finger_gap": 0.02561067681349527, + "fingertip_max_gap": 0.09233608846661187, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012805338406747633, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1658392489483114, + "object_top_z": 1.215873911864224, + "finger_top_clearance": 0.05003466291591274, + "fingertip_min_top_clearance": 0.015010398874773822, + "object_projection_between_fingers": 0.8446964777021738, + "object_to_finger_line_xy": 0.009276027984469987, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04866804423330594, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6527629712987737, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 349, + "max_stable_success_frames": 349, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.28346219974966747, + -0.4059227845111427, + 0.8515395619188688 + ], + "target_position": [ + 0.27754627034663504, + -0.40665613372612325, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005961209757488505, + "xy_threshold": 0.08, + "gripper_dist": 0.1852308409979403, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395619188688, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07586353751752485, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08847366606645014, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15238221550569395, + "release_required_pad_clearance": 0.054236833033225074, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.4917042440373565, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00853872299194336, + "max_z_decrease": 0.00853872299194336, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500583839239654, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00853872299194336, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.020867529396571216, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00853872299194336, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008538968932102852, + "max_button_displacement": 0.12, + "button_start": [ + 0.13324619829654694, + -0.46291759610176086, + 0.7768088579177856 + ], + "button_final": [ + 0.13324619829654694, + -0.46291759610176086, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13250607334123898, + -0.46187155012623643, + 0.803600121085969 + ], + "closest_button": [ + 0.1332865059375763, + -0.4628942012786865, + 0.7686179280281067 + ], + "closest_ee_minus_button": [ + -0.0007804325963373104, + 0.0010226511524500936, + 0.03498219305786232 + ], + "button_min_z_position": [ + 0.1333031952381134, + -0.4628867506980896, + 0.7682701349258423 + ], + "min_active_finger_to_button": 0.14614229976282592, + "closest_active_finger": [ + 0.00625862181186676, + -0.5265699625015259, + 0.8108766674995422 + ], + "closest_active_finger_button": [ + 0.13324707746505737, + -0.46291476488113403, + 0.7765325307846069 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1269884556531906, + -0.06365519762039185, + 0.0343441367149353 + ], + "min_contact_pad_to_button": 0.020867529396571216, + "closest_contact_pad": [ + 0.1333031952381134, + -0.4628867506980896, + 0.7891376643224135 + ], + "closest_contact_pad_button": [ + 0.1333031952381134, + -0.4628867506980896, + 0.7682701349258423 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020867529396571216 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 33, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f413b6b3abfd6b4f37d7f485c367b630d43a6219993034f06594a628af4f06e2", + "visual_seed": 578285516243874995, + "episode_index": 33, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_34_success.json new file mode 100644 index 0000000000000000000000000000000000000000..94ae0660f1605855c00c470fb1f64e1925bcc9a4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_34_success.json @@ -0,0 +1,700 @@ +{ + "episode": 34, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3047556561784638, + -0.11681009045027288, + 1.1651941378390687 + ], + "current_z": 1.1651941378390687, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.30408768942894737, + "gripper_z": 1.1562616578190759, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3007263735723932, + -0.12125353060035331, + 1.1562616578190759 + ], + "object_minus_gripper": [ + 0.0040292826060706055, + 0.004443440150080427, + 0.008932480019992806 + ], + "object_to_gripper_xy": 0.00599827297535965, + "object_to_gripper_z": 0.008932480019992806, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3047556561784638, + -0.14009886706583596, + 1.1651941378390687 + ], + "finger_b": [ + 0.2943429399120967, + -0.11681009045027288, + 1.1651941378390687 + ], + "finger_midpoint": [ + 0.29954929804528024, + -0.12845447875805444, + 1.1651941378390687 + ], + "object_minus_finger_midpoint": [ + 0.005206358133183542, + 0.011644388307781556, + 0.0 + ], + "finger_gap": 0.02551062085276373, + "fingertip_max_gap": 0.09232728383585012, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012755310426381877, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1651941378390687, + "object_top_z": 1.2153620638155165, + "finger_top_clearance": 0.050167925976447814, + "fingertip_min_top_clearance": 0.015050377792934343, + "object_projection_between_fingers": 0.8333957742038623, + "object_to_finger_line_xy": 0.009505822084388502, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04866364191792506, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5207166162678412, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 341, + "max_stable_success_frames": 341, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2860214202456218, + -0.4091538956282693, + 0.8515395808317255 + ], + "target_position": [ + 0.2792025891733407, + -0.41010705766295097, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006885127090814328, + "xy_threshold": 0.08, + "gripper_dist": 0.18319629263906617, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395808317255, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754014774911851, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08726516277491668, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15150069324573986, + "release_required_pad_clearance": 0.05363258138745834, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.275264597394724, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008714258670806885, + "max_z_decrease": 0.008714258670806885, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350202550470411, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008714258670806885, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.02088380539741619, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008714258670806885, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008714526055982871, + "max_button_displacement": 0.12, + "button_start": [ + 0.13490252196788782, + -0.46636852622032166, + 0.7768088579177856 + ], + "button_final": [ + 0.13490252196788782, + -0.46636852622032166, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1350479756556987, + -0.46487981410243984, + 0.8030848059996053 + ], + "closest_button": [ + 0.13495698571205134, + -0.46632736921310425, + 0.7680945992469788 + ], + "closest_ee_minus_button": [ + 9.098994364736823e-05, + 0.0014475551106644113, + 0.03499020675262654 + ], + "button_min_z_position": [ + 0.13495698571205134, + -0.46632736921310425, + 0.7680945992469788 + ], + "min_active_finger_to_button": 0.1451338353051403, + "closest_active_finger": [ + 0.009009048342704773, + -0.5298901796340942, + 0.8107156753540039 + ], + "closest_active_finger_button": [ + 0.13490325212478632, + -0.466365784406662, + 0.7763772010803223 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12589420378208155, + -0.06352439522743225, + 0.03433847427368164 + ], + "min_contact_pad_to_button": 0.02088380539741619, + "closest_contact_pad": [ + 0.13495698571205134, + -0.46632736921310425, + 0.788978404644395 + ], + "closest_contact_pad_button": [ + 0.13495698571205134, + -0.46632736921310425, + 0.7680945992469788 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02088380539741619 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 34, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "14bf24ed04852337c9ce644cd8d27a289aa8b1f0861b6ceb9af840dbceda96ac", + "visual_seed": 4447568201485379913, + "episode_index": 34, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_35_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_35_success.json new file mode 100644 index 0000000000000000000000000000000000000000..734062dcd97c9a194779fe10adc9f7831a737de6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_35_success.json @@ -0,0 +1,700 @@ +{ + "episode": 35, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3030036459894817, + -0.1196601451385734, + 1.1657977823288501 + ], + "current_z": 1.1657977823288501, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.30469127431408427, + "gripper_z": 1.1567909476521876, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29901784273959464, + -0.12407097821326672, + 1.1567909476521876 + ], + "object_minus_gripper": [ + 0.0039858032498870655, + 0.004410833074693324, + 0.009006834676662523 + ], + "object_to_gripper_xy": 0.005944920181097375, + "object_to_gripper_z": 0.009006834676662523, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3030036459894817, + -0.14287812394888105, + 1.1657977823288501 + ], + "finger_b": [ + 0.2925918517730757, + -0.1196601451385734, + 1.1657977823288501 + ], + "finger_midpoint": [ + 0.2977977488812787, + -0.13126913454372724, + 1.1657977823288501 + ], + "object_minus_finger_midpoint": [ + 0.005205897108203017, + 0.011608989405153841, + 0.0 + ], + "finger_gap": 0.02544562828543798, + "fingertip_max_gap": 0.09214477911005028, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012722814142719002, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1657977823288501, + "object_top_z": 1.2159420180397598, + "finger_top_clearance": 0.050144235710909646, + "fingertip_min_top_clearance": 0.015043270713272893, + "object_projection_between_fingers": 0.8325732702185596, + "object_to_finger_line_xy": 0.009500288803328273, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048572389555025144, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2926879026911626, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 347, + "max_stable_success_frames": 347, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.28245294671060345, + -0.4084026759841165, + 0.8515395896599819 + ], + "target_position": [ + 0.276004763174129, + -0.4093012672385443, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006510494386956692, + "xy_threshold": 0.08, + "gripper_dist": 0.18324184655891512, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395896599819, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07521789167115436, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08594964867808498, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15206613116639553, + "release_required_pad_clearance": 0.05297482433904249, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9843608555675132, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00858980417251587, + "max_z_decrease": 0.00858980417251587, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502939142212176, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00858980417251587, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021020449106471755, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00858980417251587, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00858987542627825, + "max_button_displacement": 0.12, + "button_start": [ + 0.13170468807220456, + -0.4655627310276031, + 0.7768088579177856 + ], + "button_final": [ + 0.13170468807220456, + -0.4655627310276031, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13053069879799883, + -0.4669106624766362, + 0.803569288321889 + ], + "closest_button": [ + 0.13171058893203735, + -0.4655258655548095, + 0.7685871720314026 + ], + "closest_ee_minus_button": [ + -0.0011798901340385193, + -0.001384796921826692, + 0.03498211629048642 + ], + "button_min_z_position": [ + 0.1317061185836792, + -0.4655277729034423, + 0.7682190537452698 + ], + "min_active_finger_to_button": 0.14679054460551075, + "closest_active_finger": [ + -0.010239534080028534, + -0.4508283734321594, + 0.8109160661697388 + ], + "closest_active_finger_button": [ + 0.13170404732227325, + -0.4655622839927673, + 0.7765300869941711 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1419435814023018, + 0.014733910560607855, + 0.03438597917556763 + ], + "min_contact_pad_to_button": 0.021020449106471755, + "closest_contact_pad": [ + 0.1317061185836792, + -0.4680860646723994, + 0.7890832437334446 + ], + "closest_contact_pad_button": [ + 0.1317061185836792, + -0.4655277729034423, + 0.7682190537452698 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002558291768957055, + 0.020864189988174853 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 35, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "215e67b9e767b5a253055e43aae66fe07bcdfbbe8b771e30a03d8cb8e933a084", + "visual_seed": 1155904717446939490, + "episode_index": 35, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_36_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_36_success.json new file mode 100644 index 0000000000000000000000000000000000000000..aae8f9658143a8c3742b2ec26cc36cbf62d9f32f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_36_success.json @@ -0,0 +1,700 @@ +{ + "episode": 36, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3028350065048735, + -0.12137894104097424, + 1.1676422318957296 + ], + "current_z": 1.1676422318957296, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.30653584309025317, + "gripper_z": 1.158753188551598, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.298619636383053, + -0.12583038046730732, + 1.158753188551598 + ], + "object_minus_gripper": [ + 0.004215370121820494, + 0.004451439426333081, + 0.008889043344131542 + ], + "object_to_gripper_xy": 0.006130632775680624, + "object_to_gripper_z": 0.008889043344131542, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3028350065048735, + -0.14482354486213783, + 1.1676422318957296 + ], + "finger_b": [ + 0.2924415763857479, + -0.12137894104097424, + 1.1676422318957296 + ], + "finger_midpoint": [ + 0.29763829144531073, + -0.13310124295155604, + 1.1676422318957296 + ], + "object_minus_finger_midpoint": [ + 0.005196715059562762, + 0.011722301910581795, + 0.0 + ], + "finger_gap": 0.02564513283203004, + "fingertip_max_gap": 0.09204806971183818, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01282256641601501, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1676422318957296, + "object_top_z": 1.2177589870965926, + "finger_top_clearance": 0.050116755200863006, + "fingertip_min_top_clearance": 0.015035026560258902, + "object_projection_between_fingers": 0.8357490481526175, + "object_to_finger_line_xy": 0.009501602237033885, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04852403485591909, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2503872835060745, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 347, + "max_stable_success_frames": 347, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.28814470667674097, + -0.41222487404517194, + 0.8515396019668762 + ], + "target_position": [ + 0.2813128165290319, + -0.4134106883328513, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006934037677661462, + "xy_threshold": 0.08, + "gripper_dist": 0.1833250525535228, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396019668762, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07513131766084351, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08532374691723187, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15241950309105348, + "release_required_pad_clearance": 0.052661873458615935, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.38154813992674985, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008686423301696777, + "max_z_decrease": 0.008686423301696777, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035013799214958126, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008686423301696777, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020949528761984453, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008686423301696777, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008686597861544191, + "max_button_displacement": 0.12, + "button_start": [ + 0.13701274991035456, + -0.46967214345931996, + 0.7768088579177856 + ], + "button_final": [ + 0.13701274991035456, + -0.46967214345931996, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13800749722371813, + -0.4703229364279206, + 0.8035980134125372 + ], + "closest_button": [ + 0.13704386353492734, + -0.46963903307914723, + 0.7686041593551636 + ], + "closest_ee_minus_button": [ + 0.0009636336887907937, + -0.0006839033487733848, + 0.03499385405737365 + ], + "button_min_z_position": [ + 0.13704380393028254, + -0.46962666511535633, + 0.7681224346160889 + ], + "min_active_finger_to_button": 0.1448294447819677, + "closest_active_finger": [ + -0.0029567405581474304, + -0.4554562270641327, + 0.8110215663909912 + ], + "closest_active_finger_button": [ + 0.13701392710208887, + -0.4696693122386931, + 0.7766447067260742 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1399706676602363, + 0.014213085174560436, + 0.03437685966491699 + ], + "min_contact_pad_to_button": 0.020949528761984453, + "closest_contact_pad": [ + 0.13704380393028254, + -0.47142792496985514, + 0.7889943827351741 + ], + "closest_contact_pad_button": [ + 0.13704380393028254, + -0.46962666511535633, + 0.7681224346160889 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0018012598544988045, + 0.020871948119085215 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 36, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4ea82f3a9ab18a66643bf093082a474daf8a4e9919818d61969007e7bb018cb1", + "visual_seed": 4996819065702003699, + "episode_index": 36, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_37_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_37_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1884d58955f0d601e45d225623cba9d7065d3763 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_37_success.json @@ -0,0 +1,700 @@ +{ + "episode": 37, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30979582468049105, + -0.12474630026290533, + 1.164218330817889 + ], + "current_z": 1.164218330817889, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.3031118228031229, + "gripper_z": 1.1551430973149863, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.30584633278335116, + -0.12897055949667557, + 1.1551430973149863 + ], + "object_minus_gripper": [ + 0.00394949189713989, + 0.004224259233770247, + 0.009075233502902735 + ], + "object_to_gripper_xy": 0.005782979536507703, + "object_to_gripper_z": 0.009075233502902735, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30979582468049105, + -0.14811601871842972, + 1.164218330817889 + ], + "finger_b": [ + 0.2998429672304692, + -0.12474630026290533, + 1.164218330817889 + ], + "finger_midpoint": [ + 0.30481939595548013, + -0.13643115949066753, + 1.164218330817889 + ], + "object_minus_finger_midpoint": [ + 0.004976428725010917, + 0.011684859227762204, + 0.0 + ], + "finger_gap": 0.025400848649423755, + "fingertip_max_gap": 0.09257639819046906, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012700424324711884, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.164218330817889, + "object_top_z": 1.2142489232127271, + "finger_top_clearance": 0.05003059239483809, + "fingertip_min_top_clearance": 0.01500917771845146, + "object_projection_between_fingers": 0.8464679268263923, + "object_to_finger_line_xy": 0.009156996273833365, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04878819909523453, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9716897413946444, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 346, + "max_stable_success_frames": 346, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.28773487891509186, + -0.40511804752885683, + 0.8515395857937714 + ], + "target_position": [ + 0.2813687472065525, + -0.4059723098624983, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006423192124259446, + "xy_threshold": 0.08, + "gripper_dist": 0.18341516411108522, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395857937714, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07535507129244622, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0862395428898826, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15179860870282555, + "release_required_pad_clearance": 0.0531197714449413, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.266076258412718, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008526504039764404, + "max_z_decrease": 0.008526504039764404, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499135750767933, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008526504039764404, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.0208714975192262, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008526504039764404, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008526766079770987, + "max_button_displacement": 0.12, + "button_start": [ + 0.13706867396831507, + -0.4622337818145752, + 0.7768088579177856 + ], + "button_final": [ + 0.13706867396831507, + -0.4622337818145752, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13592588028809297, + -0.4623079034338317, + 0.8036070947160829 + ], + "closest_button": [ + 0.13711021840572352, + -0.46220797300338745, + 0.7686359286308289 + ], + "closest_ee_minus_button": [ + -0.0011843381176305512, + -9.993043044426164e-05, + 0.03497116608525408 + ], + "button_min_z_position": [ + 0.13712567090988154, + -0.4621988534927368, + 0.7682823538780212 + ], + "min_active_finger_to_button": 0.1468950965608494, + "closest_active_finger": [ + -0.004800714552402496, + -0.44570356607437134, + 0.8108561635017395 + ], + "closest_active_finger_button": [ + 0.1370688080787658, + -0.4622325301170349, + 0.7765341401100159 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1418695226311683, + 0.016528964042663574, + 0.03432202339172363 + ], + "min_contact_pad_to_button": 0.0208714975192262, + "closest_contact_pad": [ + 0.13712567090988154, + -0.4635294868342431, + 0.7891113918684215 + ], + "closest_contact_pad_button": [ + 0.13712567090988154, + -0.4621988534927368, + 0.7682823538780212 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0013306333415062932, + 0.020829037990400256 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 37, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "757e14c7b54886906dfbd2fe14070d41bb2f3526f8a0a3d5ad4801e6c044533c", + "visual_seed": 2469122418437363318, + "episode_index": 37, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_38_success.json new file mode 100644 index 0000000000000000000000000000000000000000..67d4015cc7bcb9cbd2e91b13e6c2966a1e47c9c1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_38_success.json @@ -0,0 +1,700 @@ +{ + "episode": 38, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3055473556401153, + -0.12481957916351182, + 1.1643583887934121 + ], + "current_z": 1.1643583887934121, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.30325194038329095, + "gripper_z": 1.1554202095778137, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3014829729695411, + -0.12907911914022802, + 1.1554202095778137 + ], + "object_minus_gripper": [ + 0.00406438267057424, + 0.004259539976716201, + 0.008938179215598474 + ], + "object_to_gripper_xy": 0.005887519622566675, + "object_to_gripper_z": 0.008938179215598474, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3055473556401153, + -0.14830441184815446, + 1.1643583887934121 + ], + "finger_b": [ + 0.2956026336485164, + -0.12481957916351182, + 1.1643583887934121 + ], + "finger_midpoint": [ + 0.30057499464431586, + -0.13656199550583314, + 1.1643583887934121 + ], + "object_minus_finger_midpoint": [ + 0.004972360995799452, + 0.01174241634232133, + 0.0 + ], + "finger_gap": 0.025503624481940802, + "fingertip_max_gap": 0.09257486477300061, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012751812240970408, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1643583887934121, + "object_top_z": 1.2144724398564133, + "finger_top_clearance": 0.05011405106300115, + "fingertip_min_top_clearance": 0.015034215318900378, + "object_projection_between_fingers": 0.8479517299713936, + "object_to_finger_line_xy": 0.00915752708927172, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04878743238650031, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8412006198335682, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 344, + "max_stable_success_frames": 344, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.289738762866705, + -0.4071841176097205, + 0.8515395705472077 + ], + "target_position": [ + 0.2830587769024347, + -0.4081085419562719, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006743646851322031, + "xy_threshold": 0.08, + "gripper_dist": 0.18278874924760533, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395705472077, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0751314031909804, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08509504801046701, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15194363687144727, + "release_required_pad_clearance": 0.052547524005233506, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.16312937593831014, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008725285530090332, + "max_z_decrease": 0.008725285530090332, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034994752625552995, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008725285530090332, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.02086089071443717, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008725285530090332, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008725383954615673, + "max_button_displacement": 0.12, + "button_start": [ + 0.13875870406627652, + -0.46437001228332514, + 0.7768088579177856 + ], + "button_final": [ + 0.13875870406627652, + -0.46437001228332514, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13781028406337442, + -0.4642334612444845, + 0.803436444992297 + ], + "closest_button": [ + 0.13876377046108246, + -0.4643194675445556, + 0.7684547901153564 + ], + "closest_ee_minus_button": [ + -0.0009534863977080366, + 8.600630007110643e-05, + 0.034981654876940604 + ], + "button_min_z_position": [ + 0.13876646757125852, + -0.46432930231094355, + 0.7680835723876953 + ], + "min_active_finger_to_button": 0.14663285733049647, + "closest_active_finger": [ + 0.010263241827487946, + -0.5261777639389038, + 0.8104338645935059 + ], + "closest_active_finger_button": [ + 0.13875894248485562, + -0.4643692970275878, + 0.7762320637702942 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12849570065736768, + -0.06180846691131603, + 0.03420180082321167 + ], + "min_contact_pad_to_button": 0.02086089071443717, + "closest_contact_pad": [ + 0.13876646757125852, + -0.4655120379906538, + 0.7889109077360213 + ], + "closest_contact_pad_button": [ + 0.13876646757125852, + -0.46432930231094355, + 0.7680835723876953 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0011827356797102784, + 0.020827335348326037 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 38, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "517b870349153d92f7c2717853b01d8f78194f34ba7bdfec1b9628700c9308a6", + "visual_seed": 6617625661023257714, + "episode_index": 38, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_39_success.json new file mode 100644 index 0000000000000000000000000000000000000000..311fe44e0985144f9c981858f1207c5c79ba46db --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_39_success.json @@ -0,0 +1,700 @@ +{ + "episode": 39, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30168008858023465, + -0.12032627560151916, + 1.1624244195928068 + ], + "current_z": 1.1624244195928068, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.30131797118268566, + "gripper_z": 1.1537799203044818, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2972726444166248, + -0.12473872920656923, + 1.1537799203044818 + ], + "object_minus_gripper": [ + 0.0044074441636098305, + 0.004412453605050062, + 0.008644499288325003 + ], + "object_to_gripper_xy": 0.006236610527526763, + "object_to_gripper_z": 0.008644499288325003, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30168008858023465, + -0.14416092956001392, + 1.1624244195928068 + ], + "finger_b": [ + 0.291677971640029, + -0.12032627560151916, + 1.1624244195928068 + ], + "finger_midpoint": [ + 0.29667903011013186, + -0.13224360258076653, + 1.1624244195928068 + ], + "object_minus_finger_midpoint": [ + 0.005001058470102793, + 0.01191732697924737, + 0.0 + ], + "finger_gap": 0.025848270205310418, + "fingertip_max_gap": 0.0927635864747324, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012924135102655191, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1624244195928068, + "object_top_z": 1.212631252165604, + "finger_top_clearance": 0.05020683257279712, + "fingertip_min_top_clearance": 0.015062049771839135, + "object_projection_between_fingers": 0.8502658416605081, + "object_to_finger_line_xy": 0.009222938101027069, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0488817932373662, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.860817038978105, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 333, + "max_stable_success_frames": 333, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2897842658633666, + -0.4101223560074663, + 0.8515395872986747 + ], + "target_position": [ + 0.2835655260077187, + -0.41083566907364466, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006259516029423033, + "xy_threshold": 0.08, + "gripper_dist": 0.1840411546862387, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395872986747, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07529896686620144, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08747960272364001, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15255116639745223, + "release_required_pad_clearance": 0.05373980136182001, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.488852958599364, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008786201477050781, + "max_z_decrease": 0.008786201477050781, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501016381606592, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008786201477050781, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.02085192425844117, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 122, + "max_z_decrease_with_contact_point": 0.008786201477050781, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008786451125068722, + "max_button_displacement": 0.12, + "button_start": [ + 0.1392654478549957, + -0.46709713339805603, + 0.7768088579177856 + ], + "button_final": [ + 0.1392654478549957, + -0.46709713339805603, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1397066518626339, + -0.46605083964379435, + 0.8030162705234626 + ], + "closest_button": [ + 0.13931530714035031, + -0.46705353260040283, + 0.7680226564407349 + ], + "closest_ee_minus_button": [ + 0.00039134472228358197, + 0.0010026929566084863, + 0.03499361408272772 + ], + "button_min_z_position": [ + 0.13931530714035031, + -0.46705353260040283, + 0.7680226564407349 + ], + "min_active_finger_to_button": 0.1449896905883277, + "closest_active_finger": [ + 0.012045547366142273, + -0.5276650786399841, + 0.8103846907615662 + ], + "closest_active_finger_button": [ + 0.13926517963409424, + -0.4670955836772918, + 0.7762011885643005 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12721963226795197, + -0.060569494962692316, + 0.034183502197265625 + ], + "min_contact_pad_to_button": 0.02085192425844117, + "closest_contact_pad": [ + 0.13931530714035031, + -0.4673729698596906, + 0.7888721337751226 + ], + "closest_contact_pad_button": [ + 0.13931530714035031, + -0.46705353260040283, + 0.7680226564407349 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00031943725928779143, + 0.02084947733438769 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 39, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8725dfd63643fd5188dcda6c169bd59cf8793a4175311310a0a0e17360b842fc", + "visual_seed": 5260470475268235060, + "episode_index": 39, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_3_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_3_success.json new file mode 100644 index 0000000000000000000000000000000000000000..11e5e03733e5eebead25c3adef724563e87d718f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_3_success.json @@ -0,0 +1,700 @@ +{ + "episode": 3, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30411995882254306, + -0.11746765856156383, + 1.165493219670227 + ], + "current_z": 1.165493219670227, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.30438671165546094, + "gripper_z": 1.15654117509316, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.300066039625866, + -0.12190018657062603, + 1.15654117509316 + ], + "object_minus_gripper": [ + 0.0040539191966770804, + 0.0044325280090622005, + 0.008952044577066998 + ], + "object_to_gripper_xy": 0.006006793271314393, + "object_to_gripper_z": 0.008952044577066998, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30411995882254306, + -0.14076319293239828, + 1.165493219670227 + ], + "finger_b": [ + 0.2936923261695739, + -0.11746765856156383, + 1.165493219670227 + ], + "finger_midpoint": [ + 0.2989061424960585, + -0.12911542574698104, + 1.165493219670227 + ], + "object_minus_finger_midpoint": [ + 0.005213816326484544, + 0.011647767185417213, + 0.0 + ], + "finger_gap": 0.025522880800724623, + "fingertip_max_gap": 0.09210464560664613, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012761440400362289, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.165493219670227, + "object_top_z": 1.215602783622296, + "finger_top_clearance": 0.050109563952069, + "fingertip_min_top_clearance": 0.015032869185620733, + "object_projection_between_fingers": 0.8330785831951998, + "object_to_finger_line_xy": 0.009517627605218508, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04855232280332307, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3051964999149166, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 348, + "max_stable_success_frames": 348, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.29005617902012826, + -0.40468433036173146, + 0.8515396650502318 + ], + "target_position": [ + 0.2833694634005256, + -0.4057441376228411, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006770181475273679, + "xy_threshold": 0.08, + "gripper_dist": 0.18278315702203257, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396650502318, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07513229988537534, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08589298582682268, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1519320948280237, + "release_required_pad_clearance": 0.052946492913411344, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9295620958183805, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008672833442687988, + "max_z_decrease": 0.008672833442687988, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035045388972144396, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008672833442687988, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.02086722302449362, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008672833442687988, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00867290706730824, + "max_button_displacement": 0.12, + "button_start": [ + 0.13906939327716827, + -0.46200558543205256, + 0.7768088579177856 + ], + "button_final": [ + 0.13906939327716827, + -0.46200558543205256, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13970111827892887, + -0.46031677029147633, + 0.8031367120876145 + ], + "closest_button": [ + 0.13906987011432648, + -0.4619698524475097, + 0.7681360244750977 + ], + "closest_ee_minus_button": [ + 0.0006312481646023882, + 0.0016530821560333808, + 0.035000687612516845 + ], + "button_min_z_position": [ + 0.13906987011432648, + -0.4619698524475097, + 0.7681360244750977 + ], + "min_active_finger_to_button": 0.14459652658288744, + "closest_active_finger": [ + 0.012911655008792877, + -0.5238105058670044, + 0.810573399066925 + ], + "closest_active_finger_button": [ + 0.13906916975975037, + -0.46200424432754505, + 0.7763327360153198 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1261575147509575, + -0.06180626153945934, + 0.034240663051605225 + ], + "min_contact_pad_to_button": 0.02086722302449362, + "closest_contact_pad": [ + 0.13906987011432648, + -0.4619698524475097, + 0.7890032474995913 + ], + "closest_contact_pad_button": [ + 0.13906987011432648, + -0.4619698524475097, + 0.7681360244750977 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02086722302449362 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 3, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "fb8b9014d4288896af5c00374b92ab267c51759c680807a746f151fa7d59251a", + "visual_seed": 7740304108986815734, + "episode_index": 3, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_40_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_40_success.json new file mode 100644 index 0000000000000000000000000000000000000000..48a6181b1faecc2b321a270cc018f23cb0087a3c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_40_success.json @@ -0,0 +1,700 @@ +{ + "episode": 40, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3055446167915554, + -0.12578762008522798, + 1.164421423074054 + ], + "current_z": 1.164421423074054, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.30331497466393276, + "gripper_z": 1.1554832730425044, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.30146760222050917, + -0.13006434374267958, + 1.1554832730425044 + ], + "object_minus_gripper": [ + 0.004077014571046256, + 0.004276723657451603, + 0.008938150031549519 + ], + "object_to_gripper_xy": 0.005908672698223325, + "object_to_gripper_z": 0.008938150031549519, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3055446167915554, + -0.14924784284125336, + 1.164421423074054 + ], + "finger_b": [ + 0.2955407490469713, + -0.12578762008522798, + 1.164421423074054 + ], + "finger_midpoint": [ + 0.30054268291926334, + -0.13751773146324067, + 1.164421423074054 + ], + "object_minus_finger_midpoint": [ + 0.005001933872292086, + 0.011730111378012692, + 0.0 + ], + "finger_gap": 0.025504105975576986, + "fingertip_max_gap": 0.09240593183194282, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012752052987788504, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.164421423074054, + "object_top_z": 1.2145015366257748, + "finger_top_clearance": 0.05008011355172082, + "fingertip_min_top_clearance": 0.01502403406551621, + "object_projection_between_fingers": 0.8461435617261274, + "object_to_finger_line_xy": 0.009202163994084127, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04870296591597141, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7630314770098594, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 343, + "max_stable_success_frames": 343, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2870668058917931, + -0.4050766741320468, + 0.8515395833325728 + ], + "target_position": [ + 0.28050302417044537, + -0.4061017416643378, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006643342075435832, + "xy_threshold": 0.08, + "gripper_dist": 0.1832252232262523, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395833325728, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0756718318049165, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08759504742205203, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1508071132136753, + "release_required_pad_clearance": 0.053797523711026016, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.6041215211056468, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008702695369720459, + "max_z_decrease": 0.008702695369720459, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035007141725528136, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008702695369720459, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020984688075210145, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008702695369720459, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008702913945622556, + "max_button_displacement": 0.12, + "button_start": [ + 0.13620294630527494, + -0.46236321330070496, + 0.7768088579177856 + ], + "button_final": [ + 0.13620294630527494, + -0.46236321330070496, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13662541150181298, + -0.4634404177818774, + 0.8036312341907819 + ], + "closest_button": [ + 0.13623805344104764, + -0.4623355269432068, + 0.7686436772346497 + ], + "closest_ee_minus_button": [ + 0.0003873580607653415, + -0.0011048908386706024, + 0.034987556956132204 + ], + "button_min_z_position": [ + 0.13624581694602966, + -0.462318867444992, + 0.7681061625480652 + ], + "min_active_finger_to_button": 0.1453678679669575, + "closest_active_finger": [ + -0.004443205893039703, + -0.44947144389152527, + 0.8107792735099792 + ], + "closest_active_finger_button": [ + 0.136203721165657, + -0.4623608589172363, + 0.7763682007789612 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1406469270586967, + 0.012889415025711004, + 0.034411072731018066 + ], + "min_contact_pad_to_button": 0.020984688075210145, + "closest_contact_pad": [ + 0.13624581694602966, + -0.46444964282531237, + 0.7889823913715976 + ], + "closest_contact_pad_button": [ + 0.13624581694602966, + -0.462318867444992, + 0.7681061625480652 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00213077538032036, + 0.02087622882353246 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 40, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a02aac40dbb8c8f99ceaa404d0b5b44bbb74b07f1acec66a34818733e3abcc3d", + "visual_seed": 1702898094269069921, + "episode_index": 40, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_41_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_41_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8896ddfc787929ac1363dd330d62994d07c3bac5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_41_success.json @@ -0,0 +1,700 @@ +{ + "episode": 41, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30744967960875286, + -0.12461574777431433, + 1.164686177052479 + ], + "current_z": 1.164686177052479, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.3035797286423578, + "gripper_z": 1.155602023679781, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3033273599430575, + -0.12899963717712937, + 1.155602023679781 + ], + "object_minus_gripper": [ + 0.004122319665695373, + 0.004383889402815033, + 0.009084153372697967 + ], + "object_to_gripper_xy": 0.006017641209169317, + "object_to_gripper_z": 0.009084153372697967, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30744967960875286, + -0.1480007168182891, + 1.164686177052479 + ], + "finger_b": [ + 0.2971510062613351, + -0.12461574777431433, + 1.164686177052479 + ], + "finger_midpoint": [ + 0.302300342935044, + -0.13630823229630173, + 1.164686177052479 + ], + "object_minus_finger_midpoint": [ + 0.005149336673708871, + 0.0116924845219874, + 0.0 + ], + "finger_gap": 0.025552288545343076, + "fingertip_max_gap": 0.09154183182392459, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01277614427267155, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.164686177052479, + "object_top_z": 1.2147575212700632, + "finger_top_clearance": 0.05007134421758419, + "fingertip_min_top_clearance": 0.01502140326527529, + "object_projection_between_fingers": 0.8375562671133008, + "object_to_finger_line_xy": 0.009425150197251701, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048270915911962295, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9374947799486311, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 345, + "max_stable_success_frames": 345, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2825613599375435, + -0.4070767601426353, + 0.8515396117795491 + ], + "target_position": [ + 0.2754727943771495, + -0.4085860141616432, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0072474553739844075, + "xy_threshold": 0.08, + "gripper_dist": 0.18357067929206955, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396117795491, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07588414799115295, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0869151826363737, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15091090035649243, + "release_required_pad_clearance": 0.05345759131818685, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.9285727298693178, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008588552474975586, + "max_z_decrease": 0.008588552474975586, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500063347129616, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008588552474975586, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020866694090016638, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008588552474975586, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008588778563048493, + "max_button_displacement": 0.12, + "button_start": [ + 0.13117271661758423, + -0.4648474752902984, + 0.7768088579177856 + ], + "button_final": [ + 0.13117271661758423, + -0.4648474752902984, + 0.7768088579177856 + ], + "closest_ee": [ + 0.129749574390579, + -0.46435452046206194, + 0.8035535997654348 + ], + "closest_button": [ + 0.1311903744935989, + -0.46481621265411366, + 0.7685856819152832 + ], + "closest_ee_minus_button": [ + -0.001440800103019918, + 0.0004616921920517214, + 0.03496791785015163 + ], + "button_min_z_position": [ + 0.13122551143169403, + -0.4648143649101257, + 0.7682203054428101 + ], + "min_active_finger_to_button": 0.14695292437380242, + "closest_active_finger": [ + 0.0037461817264556885, + -0.5294696092605591, + 0.810869038105011 + ], + "closest_active_finger_button": [ + 0.13117237389087671, + -0.464846521615982, + 0.7764948606491089 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12742619216442103, + -0.06462308764457708, + 0.0343741774559021 + ], + "min_contact_pad_to_button": 0.020866694090016638, + "closest_contact_pad": [ + 0.13122551143169403, + -0.46532627695786655, + 0.7890807193481407 + ], + "closest_contact_pad_button": [ + 0.13122551143169403, + -0.4648143649101257, + 0.7682203054428101 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0005119120477408701, + 0.020860413905330666 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 41, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "db7cb65777adf44b04e371dc81044c5a4003073427f2798c8a083bdd39f7cf1e", + "visual_seed": 4890366190887566252, + "episode_index": 41, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_42_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_42_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e9519b15291e52e45eb888867a29904b559e290c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_42_success.json @@ -0,0 +1,700 @@ +{ + "episode": 42, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30607782510635084, + -0.11970016595355924, + 1.168017639256976 + ], + "current_z": 1.168017639256976, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.3069111908468548, + "gripper_z": 1.1589158686128966, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3021739296354162, + -0.12402904767839983, + 1.1589158686128966 + ], + "object_minus_gripper": [ + 0.003903895470934615, + 0.004328881724840583, + 0.009101770644079465 + ], + "object_to_gripper_xy": 0.005829203790882815, + "object_to_gripper_z": 0.009101770644079465, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30607782510635084, + -0.14281562380891613, + 1.168017639256976 + ], + "finger_b": [ + 0.2957239494661221, + -0.11970016595355924, + 1.168017639256976 + ], + "finger_midpoint": [ + 0.3009008872862365, + -0.13125789488123768, + 1.168017639256976 + ], + "object_minus_finger_midpoint": [ + 0.005176937820114358, + 0.011557728927678437, + 0.0 + ], + "finger_gap": 0.025328385906648338, + "fingertip_max_gap": 0.0923459167186165, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012664192953324162, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.168017639256976, + "object_top_z": 1.2181552011490404, + "finger_top_clearance": 0.05013756189206431, + "fingertip_min_top_clearance": 0.015041268567619325, + "object_projection_between_fingers": 0.8328944555582328, + "object_to_finger_line_xy": 0.009449262850124669, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04867295835930825, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6317736678032426, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 349, + "max_stable_success_frames": 349, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2834796861893383, + -0.4114361319930297, + 0.851539578024235 + ], + "target_position": [ + 0.27653493094513015, + -0.41260227247071946, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007041981895437017, + "xy_threshold": 0.08, + "gripper_dist": 0.18363442134624655, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539578024235, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07525171712197762, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08558047448866345, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1524545241311996, + "release_required_pad_clearance": 0.052790237244331725, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6280706390636984, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00880587100982666, + "max_z_decrease": 0.00880587100982666, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502747182807266, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00880587100982666, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.02105478173135276, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00880587100982666, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008806028355589898, + "max_button_displacement": 0.12, + "button_start": [ + 0.13223485648632044, + -0.46886372566223145, + 0.7768088579177856 + ], + "button_final": [ + 0.13223485648632044, + -0.46886372566223145, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1320267161749835, + -0.4704526058690553, + 0.8037532671727272 + ], + "closest_button": [ + 0.1322235912084579, + -0.4688208699226379, + 0.7687643766403198 + ], + "closest_ee_minus_button": [ + -0.00019687503347440294, + -0.001631735946417412, + 0.03498889053240739 + ], + "button_min_z_position": [ + 0.13221180438995356, + -0.46881639957427973, + 0.768002986907959 + ], + "min_active_finger_to_button": 0.1458494734197283, + "closest_active_finger": [ + -0.008819304406642914, + -0.4550085663795471, + 0.8106741905212402 + ], + "closest_active_finger_button": [ + 0.1322354674339294, + -0.46886181831359863, + 0.7762691378593445 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1410547718405723, + 0.013853251934051514, + 0.03440505266189575 + ], + "min_contact_pad_to_button": 0.02105478173135276, + "closest_contact_pad": [ + 0.13221180438995356, + -0.47156141694929443, + 0.7888780608806608 + ], + "closest_contact_pad_button": [ + 0.13221180438995356, + -0.46881639957427973, + 0.768002986907959 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0027450173750147022, + 0.02087507397270183 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 42, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d0783f7b01f68e3026ae12767be394598009d81745e55b47ef9fe893598b7405", + "visual_seed": 4482175848376188433, + "episode_index": 42, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_43_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_43_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ac083199d83d540168ee38eecc72d534fbb1e5cd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_43_success.json @@ -0,0 +1,700 @@ +{ + "episode": 43, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3008443084560165, + -0.12660197465418566, + 1.1674706783044415 + ], + "current_z": 1.1674706783044415, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.30636422989432033, + "gripper_z": 1.1583759760912453, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29691896535321183, + -0.13098041579752867, + 1.1583759760912453 + ], + "object_minus_gripper": [ + 0.003925343102804679, + 0.004378441143343015, + 0.009094702213196193 + ], + "object_to_gripper_xy": 0.0058803966975413445, + "object_to_gripper_z": 0.009094702213196193, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3008443084560165, + -0.1497675734415215, + 1.1674706783044415 + ], + "finger_b": [ + 0.29052695838044607, + -0.12660197465418566, + 1.1674706783044415 + ], + "finger_midpoint": [ + 0.2956856334182313, + -0.13818477404785356, + 1.1674706783044415 + ], + "object_minus_finger_midpoint": [ + 0.005158675037785221, + 0.011582799393667909, + 0.0 + ], + "finger_gap": 0.025359272066794215, + "fingertip_max_gap": 0.09235189174820127, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012679636033397095, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1674706783044415, + "object_top_z": 1.2177426934523865, + "finger_top_clearance": 0.05027201514794499, + "fingertip_min_top_clearance": 0.015081604544383497, + "object_projection_between_fingers": 0.834475316027572, + "object_to_finger_line_xy": 0.009424860136743176, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04867594587410064, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3059213733884238, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 344, + "max_stable_success_frames": 344, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.28558144267404695, + -0.4050029300997916, + 0.8515395766941911 + ], + "target_position": [ + 0.2789487883259585, + -0.40612698401039093, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006727228321913152, + "xy_threshold": 0.08, + "gripper_dist": 0.18290345022601287, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395766941911, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07575109376275557, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08639514498318927, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15047440106084148, + "release_required_pad_clearance": 0.05319757249159464, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4177281327011126, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008439362049102783, + "max_z_decrease": 0.008439362049102783, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035066366164508964, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008439362049102783, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.020844058516808817, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008439362049102783, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008439615921927707, + "max_button_displacement": 0.12, + "button_start": [ + 0.13464871048927304, + -0.4623884558677674, + 0.7768088579177856 + ], + "button_final": [ + 0.13464871048927304, + -0.4623884558677674, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1328690140634989, + -0.4605340044743155, + 0.803475498637575 + ], + "closest_button": [ + 0.1346998661756515, + -0.4623660743236542, + 0.7685049176216125 + ], + "closest_ee_minus_button": [ + -0.0018308521121525867, + 0.0018320698493387022, + 0.0349705810159624 + ], + "button_min_z_position": [ + 0.1347095221281051, + -0.46236422657966614, + 0.7683694958686829 + ], + "min_active_finger_to_button": 0.1466758034797866, + "closest_active_finger": [ + 0.006300680339336395, + -0.5245375633239746, + 0.8109239935874939 + ], + "closest_active_finger_button": [ + 0.13464942574501032, + -0.4623885154724121, + 0.776603639125824 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12834874540567393, + -0.0621490478515625, + 0.03432035446166992 + ], + "min_contact_pad_to_button": 0.020844058516808817, + "closest_contact_pad": [ + 0.1347095221281051, + -0.46236422657966614, + 0.7892135543854917 + ], + "closest_contact_pad_button": [ + 0.1347095221281051, + -0.46236422657966614, + 0.7683694958686829 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020844058516808817 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 43, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f730c573b9338f6476d219de82cfe458bc4af837083547548c2667dd272f158e", + "visual_seed": 935324376287239020, + "episode_index": 43, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_44_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_44_success.json new file mode 100644 index 0000000000000000000000000000000000000000..abe4f4dab4a7b1cbb04302a1329df3eb5568c88b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_44_success.json @@ -0,0 +1,700 @@ +{ + "episode": 44, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30636256002635487, + -0.11942451138755199, + 1.1638295700093044 + ], + "current_z": 1.1638295700093044, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.302723181203828, + "gripper_z": 1.1551396366644975, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.30200184378081985, + -0.12379410871091857, + 1.1551396366644975 + ], + "object_minus_gripper": [ + 0.0043607162455350235, + 0.004369597323366586, + 0.008689933344806944 + ], + "object_to_gripper_xy": 0.006173267120613323, + "object_to_gripper_z": 0.008689933344806944, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30636256002635487, + -0.14324906511647958, + 1.1638295700093044 + ], + "finger_b": [ + 0.29641886759389596, + -0.11942451138755199, + 1.1638295700093044 + ], + "finger_midpoint": [ + 0.3013907138101254, + -0.13133678825201578, + 1.1638295700093044 + ], + "object_minus_finger_midpoint": [ + 0.004971846216229481, + 0.011912276864463792, + 0.0 + ], + "finger_gap": 0.025816397494110178, + "fingertip_max_gap": 0.0927258929014598, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012908198747055094, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1638295700093044, + "object_top_z": 1.2138955527127187, + "finger_top_clearance": 0.050065982703414225, + "fingertip_min_top_clearance": 0.015019794811024233, + "object_projection_between_fingers": 0.8516443513000894, + "object_to_finger_line_xy": 0.00917649469392838, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0488629464507299, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9875721760288465, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 340, + "max_stable_success_frames": 340, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2832001883194477, + -0.40643347432369403, + 0.8515395661903896 + ], + "target_position": [ + 0.27759518349493023, + -0.40691974612699194, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005626058953614583, + "xy_threshold": 0.08, + "gripper_dist": 0.18190822022702302, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395661903896, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07590374720609365, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08930699389010964, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1491111040758906, + "release_required_pad_clearance": 0.05465349694505482, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 4.349137716560235, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00850588083267212, + "max_z_decrease": 0.00850588083267212, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0349936082274808, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00850588083267212, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.020804973323355146, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00850588083267212, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008505902287855494, + "max_button_displacement": 0.12, + "button_start": [ + 0.1332951039075851, + -0.46318119764328, + 0.7768088579177856 + ], + "button_final": [ + 0.1332951039075851, + -0.46318119764328, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13140767965561337, + -0.4621170488264123, + 0.8033681868921778 + ], + "closest_button": [ + 0.1333592534065246, + -0.4631675481796264, + 0.768444836139679 + ], + "closest_ee_minus_button": [ + -0.001951573750911234, + 0.0010504993532141071, + 0.03492335075249886 + ], + "button_min_z_position": [ + 0.1333062350749969, + -0.46316567063331604, + 0.7683029770851135 + ], + "min_active_finger_to_button": 0.14712334828012535, + "closest_active_finger": [ + 0.0049086809158325195, + -0.5262914896011353, + 0.8109243512153625 + ], + "closest_active_finger_button": [ + 0.13329572975635523, + -0.4631809592247009, + 0.7765862345695496 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1283870488405227, + -0.06311053037643433, + 0.03433811664581299 + ], + "min_contact_pad_to_button": 0.020804973323355146, + "closest_contact_pad": [ + 0.1333592534065246, + -0.46318535666678107, + 0.7892498018412442 + ], + "closest_contact_pad_button": [ + 0.1333592534065246, + -0.4631675481796264, + 0.768444836139679 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -1.7808487154657993e-05, + 0.020804965701565203 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 44, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6ba83568e14291f99fecb233d3eaec53c4d425a827340889aff386a63db1a37f", + "visual_seed": 5318221555261156843, + "episode_index": 44, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_45_success.json new file mode 100644 index 0000000000000000000000000000000000000000..428dc7277613beec1ada113cbf2fa46db11dfdbe --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_45_success.json @@ -0,0 +1,700 @@ +{ + "episode": 45, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30983903800962576, + -0.12555511680088927, + 1.1642312797510352 + ], + "current_z": 1.1642312797510352, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.30312483134091406, + "gripper_z": 1.1550178865972787, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3059851469126162, + -0.12983182715471825, + 1.1550178865972787 + ], + "object_minus_gripper": [ + 0.0038538910970095652, + 0.004276710353828983, + 0.009213393153756577 + ], + "object_to_gripper_xy": 0.0057569721241428305, + "object_to_gripper_z": 0.009213393153756577, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30983903800962576, + -0.14873754608085388, + 1.1642312797510352 + ], + "finger_b": [ + 0.29967267006289044, + -0.12555511680088927, + 1.1642312797510352 + ], + "finger_midpoint": [ + 0.3047558540362581, + -0.13714633144087157, + 1.1642312797510352 + ], + "object_minus_finger_midpoint": [ + 0.005083183973367655, + 0.011591214639982306, + 0.0 + ], + "finger_gap": 0.025313633965690658, + "fingertip_max_gap": 0.09230231624030935, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012656816982845329, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1642312797510352, + "object_top_z": 1.214346559541208, + "finger_top_clearance": 0.05011527979017272, + "fingertip_min_top_clearance": 0.015034583937051815, + "object_projection_between_fingers": 0.838704349672369, + "object_to_finger_line_xy": 0.009310441411878086, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04865115812015468, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6109066950629252, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 346, + "max_stable_success_frames": 346, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2906520644658883, + -0.40926321228511736, + 0.8515395949235263 + ], + "target_position": [ + 0.2837757672487583, + -0.4104343740176389, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006975319578487623, + "xy_threshold": 0.08, + "gripper_dist": 0.18461957577020102, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395949235263, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07526861468607787, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08653292751863755, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1533098283165672, + "release_required_pad_clearance": 0.053266463759318775, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5526421073726795, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008756101131439209, + "max_z_decrease": 0.008756101131439209, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03496407302881596, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008756101131439209, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020855403766014326, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 122, + "max_z_decrease_with_contact_point": 0.008756101131439209, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008756273612598356, + "max_button_displacement": 0.12, + "button_start": [ + 0.1394756883382797, + -0.46669584512710566, + 0.7768088579177856 + ], + "button_final": [ + 0.1394756883382797, + -0.46669584512710566, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13843928682815632, + -0.4672474678039392, + 0.8029952287913545 + ], + "closest_button": [ + 0.13952615857124326, + -0.46667408943176264, + 0.7680527567863464 + ], + "closest_ee_minus_button": [ + -0.0010868717430869423, + -0.0005733783721765806, + 0.03494247200500811 + ], + "button_min_z_position": [ + 0.13952615857124326, + -0.46667408943176264, + 0.7680527567863464 + ], + "min_active_finger_to_button": 0.1466819437349996, + "closest_active_finger": [ + -0.0021387189626693726, + -0.44979327917099, + 0.8105038404464722 + ], + "closest_active_finger_button": [ + 0.139476329088211, + -0.46669489145278925, + 0.7762240171432495 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14161504805088038, + 0.01690161228179926, + 0.034279823303222656 + ], + "min_contact_pad_to_button": 0.020855403766014326, + "closest_contact_pad": [ + 0.13952615857124326, + -0.4685472392625668, + 0.7888238707659779 + ], + "closest_contact_pad_button": [ + 0.13952615857124326, + -0.46667408943176264, + 0.7680527567863464 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001873149830804166, + 0.020771113979631495 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 45, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0ec39292038082f4230b2a0e94c7f86d266f18319995877664410611d7b99934", + "visual_seed": 5295025269450020357, + "episode_index": 45, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_46_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_46_success.json new file mode 100644 index 0000000000000000000000000000000000000000..cddef2bcfa9a627dec462977562aaa50a1f76979 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_46_success.json @@ -0,0 +1,700 @@ +{ + "episode": 46, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30278481009633085, + -0.12578346723204697, + 1.1640448364343743 + ], + "current_z": 1.1640448364343743, + "required_z": 0.8611063292008317, + "initial_z": 0.7611063292008318, + "lift_margin": 0.30293850723354254, + "gripper_z": 1.155152516365465, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2986599144086849, + -0.13007298035391246, + 1.155152516365465 + ], + "object_minus_gripper": [ + 0.0041248956876459575, + 0.004289513121865485, + 0.008892320068909276 + ], + "object_to_gripper_xy": 0.005951024051087039, + "object_to_gripper_z": 0.008892320068909276, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30278481009633085, + -0.1493265179856444, + 1.1640448364343743 + ], + "finger_b": [ + 0.2928300647209857, + -0.12578346723204697, + 1.1640448364343743 + ], + "finger_midpoint": [ + 0.2978074374086583, + -0.13755499260884568, + 1.1640448364343743 + ], + "object_minus_finger_midpoint": [ + 0.0049773726876725655, + 0.011771525376798708, + 0.0 + ], + "finger_gap": 0.025561146184676836, + "fingertip_max_gap": 0.0925702435493724, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012780573092338418, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1640448364343743, + "object_top_z": 1.2141442351454708, + "finger_top_clearance": 0.05009939871109648, + "fingertip_min_top_clearance": 0.015029819613328943, + "object_projection_between_fingers": 0.8483300079857177, + "object_to_finger_line_xy": 0.00916880150512911, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048785121774686205, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8062283859109167, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 343, + "max_stable_success_frames": 343, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.28130608033757987, + -0.40545799547221983, + 0.851539636879889 + ], + "target_position": [ + 0.2746284937782725, + -0.40628923284469715, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006729124595847941, + "xy_threshold": 0.08, + "gripper_dist": 0.1815453114104997, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539636879889, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07528951438627825, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08598815905776784, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15015976704945244, + "release_required_pad_clearance": 0.05299407952888392, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0218144350654, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008534848690032959, + "max_z_decrease": 0.008534848690032959, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035025201804372116, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008534848690032959, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.020927032646645763, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008534848690032959, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008535006037681434, + "max_button_displacement": 0.12, + "button_start": [ + 0.1303284168243408, + -0.46255069971084584, + 0.7768088579177856 + ], + "button_final": [ + 0.1303284168243408, + -0.46255069971084584, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1317299823801443, + -0.4624447759179448, + 0.8036308648945929 + ], + "closest_button": [ + 0.1303588449954986, + -0.4625192880630492, + 0.7686325907707214 + ], + "closest_ee_minus_button": [ + 0.0013711373846456987, + 7.451214510439952e-05, + 0.034998274123871465 + ], + "button_min_z_position": [ + 0.13036297261714933, + -0.4625120759010314, + 0.7682740092277527 + ], + "min_active_finger_to_button": 0.1445302764481282, + "closest_active_finger": [ + -0.009366385638713837, + -0.44891002774238586, + 0.8110700249671936 + ], + "closest_active_finger_button": [ + 0.13032975792884824, + -0.46254757046699513, + 0.776602566242218 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13969614356756208, + 0.013637542724609264, + 0.034467458724975586 + ], + "min_contact_pad_to_button": 0.020927032646645763, + "closest_contact_pad": [ + 0.13036297261714933, + -0.4634256445190462, + 0.789181091467366 + ], + "closest_contact_pad_button": [ + 0.13036297261714933, + -0.4625120759010314, + 0.7682740092277527 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0009135686180148372, + 0.02090708223961335 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 46, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "269955a3045c241cc2eefc39e2c0ed19d51ae6bf6e163b73dc1d85170dbc4213", + "visual_seed": 3821928640866475892, + "episode_index": 46, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_47_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_47_success.json new file mode 100644 index 0000000000000000000000000000000000000000..83791a466487923b4ec629da6aab3a869b8f07ff --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_47_success.json @@ -0,0 +1,700 @@ +{ + "episode": 47, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3047193460577641, + -0.11939122241052096, + 1.165131467632416 + ], + "current_z": 1.165131467632416, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 0.3040249000130052, + "gripper_z": 1.1561666666032802, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3006572089562848, + -0.1237843383258677, + 1.1561666666032802 + ], + "object_minus_gripper": [ + 0.004062137101479291, + 0.004393115915346746, + 0.008964801029135883 + ], + "object_to_gripper_xy": 0.005983345659151529, + "object_to_gripper_z": 0.008964801029135883, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3047193460577641, + -0.14278743120616982, + 1.165131467632416 + ], + "finger_b": [ + 0.29445710061141117, + -0.11939122241052096, + 1.165131467632416 + ], + "finger_midpoint": [ + 0.2995882233345876, + -0.1310893268083454, + 1.165131467632416 + ], + "object_minus_finger_midpoint": [ + 0.005131122723176451, + 0.011698104397824441, + 0.0 + ], + "finger_gap": 0.025547921003690074, + "fingertip_max_gap": 0.09226118704136474, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012773960501845042, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.165131467632416, + "object_top_z": 1.215222724210509, + "finger_top_clearance": 0.05009125657809288, + "fingertip_min_top_clearance": 0.015027376973427863, + "object_projection_between_fingers": 0.8386482552034586, + "object_to_finger_line_xy": 0.009397932502624811, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04863059352068237, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.430850320244007, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 349, + "max_stable_success_frames": 349, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2905984415491173, + -0.4110452305795125, + 0.8515395745969373 + ], + "target_position": [ + 0.2842640137471142, + -0.411971524917139, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006401796371231194, + "xy_threshold": 0.08, + "gripper_dist": 0.18476239335928507, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395745969373, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07527238229444494, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08616563447419177, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15339579426879152, + "release_required_pad_clearance": 0.05308281723709589, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1941773553274244, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008782625198364258, + "max_z_decrease": 0.008782625198364258, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502704085480908, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008782625198364258, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020823059931000462, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 122, + "max_z_decrease_with_contact_point": 0.008782625198364258, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008782941041165632, + "max_button_displacement": 0.12, + "button_start": [ + 0.1399639397859573, + -0.4682329893112182, + 0.7768088579177856 + ], + "button_final": [ + 0.1399639397859573, + -0.4682329893112182, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13853357166804148, + -0.4670644703096934, + 0.8035689245877781 + ], + "closest_button": [ + 0.14000913500785822, + -0.4682036340236663, + 0.7685915231704712 + ], + "closest_ee_minus_button": [ + -0.0014755633398167434, + 0.001139163713972935, + 0.034977401417306875 + ], + "button_min_z_position": [ + 0.14002932608127588, + -0.4681973159313202, + 0.7680262327194214 + ], + "min_active_finger_to_button": 0.14665261528382767, + "closest_active_finger": [ + 0.0107312873005867, + -0.5285359621047974, + 0.8110091686248779 + ], + "closest_active_finger_button": [ + 0.13996325433254242, + -0.4682336747646331, + 0.776807963848114 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12923196703195572, + -0.06030228734016424, + 0.034201204776763916 + ], + "min_contact_pad_to_button": 0.020823059931000462, + "closest_contact_pad": [ + 0.14002932608127588, + -0.46839980526597713, + 0.7888483080953148 + ], + "closest_contact_pad_button": [ + 0.14002932608127588, + -0.4681973159313202, + 0.7680262327194214 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0002024893346569412, + 0.020822075375893423 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 47, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b313f96a552de46cedfdef9b44cdbca3aceed88a769cf75555499950855abdec", + "visual_seed": 3559583877494480143, + "episode_index": 47, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_48_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_48_success.json new file mode 100644 index 0000000000000000000000000000000000000000..afde33287494deef61e76a6dfe152589a90d1456 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_48_success.json @@ -0,0 +1,700 @@ +{ + "episode": 48, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3019279249219886, + -0.11833488512069484, + 1.1672153486106147 + ], + "current_z": 1.1672153486106147, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.30610890020049353, + "gripper_z": 1.1583322069053763, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2976950317706665, + -0.12263026050463594, + 1.1583322069053763 + ], + "object_minus_gripper": [ + 0.004232893151322137, + 0.004295375383941091, + 0.008883141705238407 + ], + "object_to_gripper_xy": 0.006030558358848451, + "object_to_gripper_z": 0.008883141705238407, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3019279249219886, + -0.14199277483394654, + 1.1672153486106147 + ], + "finger_b": [ + 0.2919980634227663, + -0.11833488512069484, + 1.1672153486106147 + ], + "finger_midpoint": [ + 0.2969629941723775, + -0.13016382997732068, + 1.1672153486106147 + ], + "object_minus_finger_midpoint": [ + 0.0049649307496111295, + 0.011828944856625834, + 0.0 + ], + "finger_gap": 0.025657316599327337, + "fingertip_max_gap": 0.09238748207424716, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012828658299663644, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1672153486106147, + "object_top_z": 1.2173260531510073, + "finger_top_clearance": 0.05011070454039257, + "fingertip_min_top_clearance": 0.015033211362117771, + "object_projection_between_fingers": 0.8502165203155679, + "object_to_finger_line_xy": 0.009156045890731403, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04869374103712358, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6659995396974052, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 345, + "max_stable_success_frames": 345, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2859865184919752, + -0.40396878719431883, + 0.8515396302213064 + ], + "target_position": [ + 0.27942425758710165, + -0.40488200260598306, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006625498514959678, + "xy_threshold": 0.08, + "gripper_dist": 0.18316834865305742, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396302213064, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07558135223379256, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08772250438034328, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1510672527561927, + "release_required_pad_clearance": 0.05386125219017164, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.732033920642345, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008576452732086182, + "max_z_decrease": 0.008576452732086182, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03508161021870153, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008576452732086182, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020891987138524915, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008576452732086182, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00857649955294855, + "max_button_displacement": 0.12, + "button_start": [ + 0.13512417674064636, + -0.46114346385002125, + 0.7768088579177856 + ], + "button_final": [ + 0.13512417674064636, + -0.46114346385002125, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13664840870613398, + -0.4594526018865057, + 0.8036052097100361 + ], + "closest_button": [ + 0.13512419164180756, + -0.46110615134239186, + 0.7685957551002502 + ], + "closest_ee_minus_button": [ + 0.0015242170643264275, + 0.0016535494558861386, + 0.035009454609785884 + ], + "button_min_z_position": [ + 0.13512130081653595, + -0.4611152708530425, + 0.7682324051856995 + ], + "min_active_finger_to_button": 0.14384357491241315, + "closest_active_finger": [ + 0.010438784956932068, + -0.5241284370422363, + 0.8108012080192566 + ], + "closest_active_finger_button": [ + 0.13512468338012695, + -0.46114131808280934, + 0.7764934301376343 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12468589842319489, + -0.06298711895942699, + 0.034307777881622314 + ], + "min_contact_pad_to_button": 0.020891987138524915, + "closest_contact_pad": [ + 0.13512130081653595, + -0.4611152708530425, + 0.7891243923242244 + ], + "closest_contact_pad_button": [ + 0.13512130081653595, + -0.4611152708530425, + 0.7682324051856995 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020891987138524915 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 48, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7b93dc7210ba6a1347dfd0c0ef749c4614f6bccd3749a9c5f983d168d184f494", + "visual_seed": 5998553151597791382, + "episode_index": 48, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_49_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_49_success.json new file mode 100644 index 0000000000000000000000000000000000000000..565e46e4eaa7656ab66e673e3f84db7d3f81f42a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_49_success.json @@ -0,0 +1,700 @@ +{ + "episode": 49, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3061393799326437, + -0.11669865251330049, + 1.1643938533986518 + ], + "current_z": 1.1643938533986518, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.30328740498853046, + "gripper_z": 1.155588786206177, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.30191182010067263, + -0.1211063492297214, + 1.155588786206177 + ], + "object_minus_gripper": [ + 0.0042275598319710395, + 0.004407696716420911, + 0.008805067192474647 + ], + "object_to_gripper_xy": 0.006107376890027558, + "object_to_gripper_z": 0.008805067192474647, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3061393799326437, + -0.14023387596586992, + 1.1643938533986518 + ], + "finger_b": [ + 0.29587493494354666, + -0.11669865251330049, + 1.1643938533986518 + ], + "finger_midpoint": [ + 0.30100715743809514, + -0.1284662642395852, + 1.1643938533986518 + ], + "object_minus_finger_midpoint": [ + 0.005132222494548533, + 0.011767611726284724, + 0.0 + ], + "finger_gap": 0.02567616743006193, + "fingertip_max_gap": 0.09235466071471657, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012838083715030982, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1643938533986518, + "object_top_z": 1.2144840369077683, + "finger_top_clearance": 0.05009018350911654, + "fingertip_min_top_clearance": 0.01502705505273496, + "object_projection_between_fingers": 0.8401875737095175, + "object_to_finger_line_xy": 0.00940856952631353, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04867733035735829, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5936160423253156, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 346, + "max_stable_success_frames": 346, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.281034440967356, + -0.4062512403973572, + 0.8515395689050187 + ], + "target_position": [ + 0.2748917627722347, + -0.4071375066761304, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006206284180224864, + "xy_threshold": 0.08, + "gripper_dist": 0.18340860330244818, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395689050187, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07585319416896645, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0871940581734096, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.150656950399279, + "release_required_pad_clearance": 0.0535970290867048, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.204678050873108, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00850677490234375, + "max_z_decrease": 0.00850677490234375, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499684649413788, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00850677490234375, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.020897759911943502, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00850677490234375, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008506827909154678, + "max_button_displacement": 0.12, + "button_start": [ + 0.13059169054031372, + -0.4633989632129669, + 0.7768088579177856 + ], + "button_final": [ + 0.13059169054031372, + -0.4633989632129669, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1297009683462262, + -0.46332117290186675, + 0.8036513648955605 + ], + "closest_button": [ + 0.1305953860282898, + -0.4633583426475525, + 0.7686659693717957 + ], + "closest_ee_minus_button": [ + -0.0008944176820636085, + 3.716974568573894e-05, + 0.034985395523764895 + ], + "button_min_z_position": [ + 0.13059774041175842, + -0.46336954832077026, + 0.7683020830154419 + ], + "min_active_finger_to_button": 0.14667828617377424, + "closest_active_finger": [ + -0.011181190609931946, + -0.44824886322021484, + 0.8109934329986572 + ], + "closest_active_finger_button": [ + 0.13059258460998535, + -0.46339672803878784, + 0.7765658497810364 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1417737752199173, + 0.015147864818572998, + 0.03442758321762085 + ], + "min_contact_pad_to_button": 0.020897759911943502, + "closest_contact_pad": [ + 0.13059774041175842, + -0.4644072291501297, + 0.7891740639428386 + ], + "closest_contact_pad_button": [ + 0.13059774041175842, + -0.46336954832077026, + 0.7683020830154419 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0010376808293594553, + 0.020871980927396727 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 49, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d68cbd908ca72ece44ac4be880f9057eb3172848ed0dac4f8c7211a7abaf22f0", + "visual_seed": 9125921309669647854, + "episode_index": 49, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_4_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_4_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9d5cbd06bfac3318edce6e7ee0e2f985613139f6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_4_success.json @@ -0,0 +1,700 @@ +{ + "episode": 4, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30718084353211306, + -0.12347530424374324, + 1.164742629072721 + ], + "current_z": 1.164742629072721, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.3036361806625999, + "gripper_z": 1.1556421262602061, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.30311599522355176, + -0.12783481741531988, + 1.1556421262602061 + ], + "object_minus_gripper": [ + 0.004064848308561297, + 0.004359513171576637, + 0.009100502812514843 + ], + "object_to_gripper_xy": 0.005960565985270512, + "object_to_gripper_z": 0.009100502812514843, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30718084353211306, + -0.14692146828547095, + 1.164742629072721 + ], + "finger_b": [ + 0.297054719209367, + -0.12347530424374324, + 1.164742629072721 + ], + "finger_midpoint": [ + 0.30211778137074, + -0.1351983862646071, + 1.164742629072721 + ], + "object_minus_finger_midpoint": [ + 0.005063062161373033, + 0.011723082020863848, + 0.0 + ], + "finger_gap": 0.025539400973227915, + "fingertip_max_gap": 0.09189345192996326, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01276970048661395, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.164742629072721, + "object_top_z": 1.214881119260541, + "finger_top_clearance": 0.05013849018782013, + "fingertip_min_top_clearance": 0.015041547056346038, + "object_projection_between_fingers": 0.8427954553865871, + "object_to_finger_line_xy": 0.009296176219125546, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04844672596498163, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2852233608605526, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 339, + "max_stable_success_frames": 339, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2897113177009267, + -0.40800895285185007, + 0.8515395016564108 + ], + "target_position": [ + 0.28153194298362344, + -0.4095370371489405, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008320890119757247, + "xy_threshold": 0.08, + "gripper_dist": 0.18674468133621955, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395016564108, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07520616924982493, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08505519922359116, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15555243758221468, + "release_required_pad_clearance": 0.05252759961179558, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.125114513906073, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008792281150817871, + "max_z_decrease": 0.008792281150817871, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504940435843957, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008792281150817871, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020917099353025274, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 122, + "max_z_decrease_with_contact_point": 0.008792281150817871, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008792493012249878, + "max_button_displacement": 0.12, + "button_start": [ + 0.13723187148571014, + -0.4657984972000122, + 0.7768088579177856 + ], + "button_final": [ + 0.13723187148571014, + -0.4657984972000122, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13890605414459073, + -0.4657617908834836, + 0.8030243092086665 + ], + "closest_button": [ + 0.13719747960567474, + -0.4657480716705322, + 0.7680165767669678 + ], + "closest_ee_minus_button": [ + 0.0017085745389159857, + -1.3719212951346371e-05, + 0.03500773244169875 + ], + "button_min_z_position": [ + 0.13719747960567474, + -0.4657480716705322, + 0.7680165767669678 + ], + "min_active_finger_to_button": 0.14415125447050217, + "closest_active_finger": [ + -0.0017852634191513062, + -0.44916054606437683, + 0.8105326294898987 + ], + "closest_active_finger_button": [ + 0.13723155856132507, + -0.465796560049057, + 0.7762230038642883 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13901682198047638, + 0.016636013984680176, + 0.03430962562561035 + ], + "min_contact_pad_to_button": 0.020917099353025274, + "closest_contact_pad": [ + 0.13719747960567474, + -0.4669909462207502, + 0.7888967182462957 + ], + "closest_contact_pad_button": [ + 0.13719747960567474, + -0.4657480716705322, + 0.7680165767669678 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0012428745502179872, + 0.02088014147932793 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 4, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "91e98df10f10f08834b31e7e72cf2598f28df1efec052632d5fc973ff6c416e4", + "visual_seed": 3623869475578887397, + "episode_index": 4, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_50_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_50_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5fa91b4317b68af0258c4d0cfbc739d1ee757e54 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_50_success.json @@ -0,0 +1,700 @@ +{ + "episode": 50, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30536731301036174, + -0.12188550982954385, + 1.1647937625342417 + ], + "current_z": 1.1647937625342417, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.30368731412412053, + "gripper_z": 1.1557570157078005, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3012173067350742, + -0.12630387224933015, + 1.1557570157078005 + ], + "object_minus_gripper": [ + 0.004150006275287554, + 0.004418362419786298, + 0.009036746826441178 + ], + "object_to_gripper_xy": 0.00606172240848308, + "object_to_gripper_z": 0.009036746826441178, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30536731301036174, + -0.14531126681510154, + 1.1647937625342417 + ], + "finger_b": [ + 0.2950446751044463, + -0.12188550982954385, + 1.1647937625342417 + ], + "finger_midpoint": [ + 0.300205994057404, + -0.13359838832232268, + 1.1647937625342417 + ], + "object_minus_finger_midpoint": [ + 0.005161318952957739, + 0.011712878492778828, + 0.0 + ], + "finger_gap": 0.025599276233578293, + "fingertip_max_gap": 0.09158461181137559, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012799638116789146, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1647937625342417, + "object_top_z": 1.2148578898829794, + "finger_top_clearance": 0.050064127348737664, + "fingertip_min_top_clearance": 0.015019238204621298, + "object_projection_between_fingers": 0.8373979510960338, + "object_to_finger_line_xy": 0.009446189213611175, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048292305905687796, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0010178272933428, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 345, + "max_stable_success_frames": 345, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2837871817762253, + -0.40645185578308596, + 0.8515395510639965 + ], + "target_position": [ + 0.27689910327898853, + -0.40775459100649875, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007010188617035632, + "xy_threshold": 0.08, + "gripper_dist": 0.18315963799186155, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395510639965, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07574960249006314, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08629603797638262, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15068892373038653, + "release_required_pad_clearance": 0.05314801898819131, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3211359685332853, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008585512638092041, + "max_z_decrease": 0.008585512638092041, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499421557935779, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008585512638092041, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.020930467914920894, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008585512638092041, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008585706144622457, + "max_button_displacement": 0.12, + "button_start": [ + 0.13259902596473688, + -0.4640160501003264, + 0.7768088579177856 + ], + "button_final": [ + 0.13259902596473688, + -0.4640160501003264, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13156758823040485, + -0.46478548873869063, + 0.8031917285962206 + ], + "closest_button": [ + 0.13264301419258112, + -0.4639787971973418, + 0.7682233452796936 + ], + "closest_ee_minus_button": [ + -0.001075425962176274, + -0.0008066915413488251, + 0.03496838331652696 + ], + "button_min_z_position": [ + 0.13264301419258112, + -0.4639787971973418, + 0.7682233452796936 + ], + "min_active_finger_to_button": 0.14675529668764958, + "closest_active_finger": [ + -0.009451858699321747, + -0.4509046673774719, + 0.8109839558601379 + ], + "closest_active_finger_button": [ + 0.13259960711002344, + -0.4640139043331145, + 0.776536226272583 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1420514658093452, + 0.01310923695564259, + 0.03444772958755493 + ], + "min_contact_pad_to_button": 0.020930467914920894, + "closest_contact_pad": [ + 0.13264301419258112, + -0.4657724913591579, + 0.7890768137775575 + ], + "closest_contact_pad_button": [ + 0.13264301419258112, + -0.4639787971973418, + 0.7682233452796936 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0017936941618160729, + 0.020853468497863847 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 50, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e654e9227d932fc9264defcd25d35632979943973680852bf9e5637501944774", + "visual_seed": 2708107282169865313, + "episode_index": 50, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_51_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_51_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b8bfb8099a52a56dfa8d6514db30c024cf020f48 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_51_success.json @@ -0,0 +1,700 @@ +{ + "episode": 51, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3020552049791534, + -0.12131342500779049, + 1.1639693040772516 + ], + "current_z": 1.1639693040772516, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.3028629152717752, + "gripper_z": 1.1550543984476382, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29796229514012906, + -0.12570042239128018, + 1.1550543984476382 + ], + "object_minus_gripper": [ + 0.004092909839024328, + 0.004386997383489688, + 0.00891490562961339 + ], + "object_to_gripper_xy": 0.005999804746250291, + "object_to_gripper_z": 0.00891490562961339, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3020552049791534, + -0.14471981973405387, + 1.1639693040772516 + ], + "finger_b": [ + 0.29181424758291546, + -0.12131342500779049, + 1.1639693040772516 + ], + "finger_midpoint": [ + 0.29693472628103446, + -0.13301662237092218, + 1.1639693040772516 + ], + "object_minus_finger_midpoint": [ + 0.005120478698118935, + 0.01170319736313169, + 0.0 + ], + "finger_gap": 0.02554870882203659, + "fingertip_max_gap": 0.09237848846370758, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012774354411018285, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1639693040772516, + "object_top_z": 1.2141193347256904, + "finger_top_clearance": 0.050150030648438815, + "fingertip_min_top_clearance": 0.015045009194531677, + "object_projection_between_fingers": 0.839326887985091, + "object_to_finger_line_xy": 0.009382231128034109, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04868924423185379, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.524552523900222, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 344, + "max_stable_success_frames": 344, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.28262556843458153, + -0.40392677124235404, + 0.851539508965454 + ], + "target_position": [ + 0.2755395735865035, + -0.4050099435417858, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007168304207917296, + "xy_threshold": 0.08, + "gripper_dist": 0.18452742788173995, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539508965454, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07517953231737577, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08545250606897851, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15343825638804032, + "release_required_pad_clearance": 0.05272625303448926, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5051284524167879, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008684515953063965, + "max_z_decrease": 0.008684515953063965, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500486332010469, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008684515953063965, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020892665932118602, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008684515953063965, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008684697767287594, + "max_button_displacement": 0.12, + "button_start": [ + 0.13123950362205505, + -0.4612714052200316, + 0.7768088579177856 + ], + "button_final": [ + 0.13123950362205505, + -0.4612714052200316, + 0.7768088579177856 + ], + "closest_ee": [ + 0.131818160227408, + -0.46061786156145706, + 0.8031196762557572 + ], + "closest_button": [ + 0.1312776058912277, + -0.46123009920120234, + 0.7681243419647217 + ], + "closest_ee_minus_button": [ + 0.0005405543361803045, + 0.0006122376397452722, + 0.03499533429103552 + ], + "button_min_z_position": [ + 0.1312776058912277, + -0.46123009920120234, + 0.7681243419647217 + ], + "min_active_finger_to_button": 0.14506166761546468, + "closest_active_finger": [ + 0.00424455851316452, + -0.5224390029907227, + 0.8103582859039307 + ], + "closest_active_finger_button": [ + 0.13123911619186399, + -0.46126917004585255, + 0.7761015892028809 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12699455767869947, + -0.061169832944870106, + 0.034256696701049805 + ], + "min_contact_pad_to_button": 0.020892665932118602, + "closest_contact_pad": [ + 0.1312776058912277, + -0.46192071600088586, + 0.7890055904472024 + ], + "closest_contact_pad_button": [ + 0.1312776058912277, + -0.46123009920120234, + 0.7681243419647217 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0006906167996835189, + 0.02088124848248074 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 51, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "08b24f60b80df3f1b54890b9f32b9fc664c438bd3f1f095a15b7471a72f26415", + "visual_seed": 3175787248918900010, + "episode_index": 51, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_52_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_52_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f1aebda8c6ae9177e972cd53969214c6686e2734 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_52_success.json @@ -0,0 +1,700 @@ +{ + "episode": 52, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3095702797659584, + -0.12004164302698622, + 1.1637061785117409 + ], + "current_z": 1.1637061785117409, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.30259978970626444, + "gripper_z": 1.1546292686587472, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.305580025218539, + -0.12437674047678914, + 1.1546292686587472 + ], + "object_minus_gripper": [ + 0.003990254547419414, + 0.004335097449802913, + 0.009076909852993698 + ], + "object_to_gripper_xy": 0.005891960730732091, + "object_to_gripper_z": 0.009076909852993698, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3095702797659584, + -0.14331044545119787, + 1.1637061785117409 + ], + "finger_b": [ + 0.29930337236504884, + -0.12004164302698622, + 1.1637061785117409 + ], + "finger_midpoint": [ + 0.3044368260655036, + -0.13167604423909204, + 1.1637061785117409 + ], + "object_minus_finger_midpoint": [ + 0.005133453700454815, + 0.011634401212105822, + 0.0 + ], + "finger_gap": 0.025433178209493392, + "fingertip_max_gap": 0.09218187065328318, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012716589104746706, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1637061785117409, + "object_top_z": 1.2138053931016628, + "finger_top_clearance": 0.05009921458992195, + "fingertip_min_top_clearance": 0.015029764376976583, + "object_projection_between_fingers": 0.8370411236578967, + "object_to_finger_line_xy": 0.009393188607873925, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04859093532664159, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5537953526875503, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 342, + "max_stable_success_frames": 342, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2857007666868233, + -0.4080993214894124, + 0.8515395603813467 + ], + "target_position": [ + 0.2780895265347449, + -0.4093236621560759, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0077090846876044115, + "xy_threshold": 0.08, + "gripper_dist": 0.18313522503934862, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395603813467, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07532360953266519, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0855540264640892, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15176653538720064, + "release_required_pad_clearance": 0.0527770132320446, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6026319740895041, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008624136447906494, + "max_z_decrease": 0.008624136447906494, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503502676811377, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008624136447906494, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02086011515412233, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008624136447906494, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008624393301752086, + "max_button_displacement": 0.12, + "button_start": [ + 0.13378944993019104, + -0.46558511257171625, + 0.7768088579177856 + ], + "button_final": [ + 0.13378944993019104, + -0.46558511257171625, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13161482397104596, + -0.4653487696518695, + 0.8036295047160757 + ], + "closest_button": [ + 0.13382096588611597, + -0.46556216478347767, + 0.7686646580696106 + ], + "closest_ee_minus_button": [ + -0.0022061419150700146, + 0.00021339513160817392, + 0.03496484664646515 + ], + "button_min_z_position": [ + 0.1338474452495575, + -0.4655524492263793, + 0.7681847214698792 + ], + "min_active_finger_to_button": 0.14772540634461226, + "closest_active_finger": [ + 0.004841551184654236, + -0.5289799571037292, + 0.8107343316078186 + ], + "closest_active_finger_button": [ + 0.13378909230232233, + -0.4655845761299133, + 0.7764363288879395 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1289475411176681, + -0.06339538097381597, + 0.03429800271987915 + ], + "min_contact_pad_to_button": 0.02086011515412233, + "closest_contact_pad": [ + 0.1338474452495575, + -0.4664489195812041, + 0.7890255646665006 + ], + "closest_contact_pad_button": [ + 0.1338474452495575, + -0.4655524492263793, + 0.7681847214698792 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0008964703548248187, + 0.020840843196621495 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 52, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9dac03c175a4ac7426088bd086fa00c202b5759745e571d4d4ef2512f45b89f9", + "visual_seed": 2783716626221314685, + "episode_index": 52, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_53_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_53_success.json new file mode 100644 index 0000000000000000000000000000000000000000..96786113300c28d2a36022c4011adc5e4fca2a38 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_53_success.json @@ -0,0 +1,700 @@ +{ + "episode": 53, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3069997099861531, + -0.11814502956967764, + 1.166892040589829 + ], + "current_z": 1.166892040589829, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.3057855921797077, + "gripper_z": 1.1580118912673347, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3029793596414768, + -0.12250494182211609, + 1.1580118912673347 + ], + "object_minus_gripper": [ + 0.004020350344676293, + 0.004359912252438453, + 0.008880149322494368 + ], + "object_to_gripper_xy": 0.005930602983078679, + "object_to_gripper_z": 0.008880149322494368, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3069997099861531, + -0.14155050510310627, + 1.166892040589829 + ], + "finger_b": [ + 0.29684534140196805, + -0.11814502956967764, + 1.166892040589829 + ], + "finger_midpoint": [ + 0.3019225256940606, + -0.12984776733639194, + 1.166892040589829 + ], + "object_minus_finger_midpoint": [ + 0.005077184292092529, + 0.011702737766714308, + 0.0 + ], + "finger_gap": 0.025513280586577074, + "fingertip_max_gap": 0.09273289360393419, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012756640293288532, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.166892040589829, + "object_top_z": 1.2170059358388357, + "finger_top_clearance": 0.05011389524900656, + "fingertip_min_top_clearance": 0.015034168574701967, + "object_projection_between_fingers": 0.8415934132213924, + "object_to_finger_line_xy": 0.009315455323279742, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0488664468019671, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9178504796546652, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 343, + "max_stable_success_frames": 343, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.28748856050841254, + -0.40548400449827493, + 0.8515395127756079 + ], + "target_position": [ + 0.28092899162955826, + -0.4062062080396808, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0065992061516255765, + "xy_threshold": 0.08, + "gripper_dist": 0.18501698208825945, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395127756079, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07513677914521089, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.085202202333639, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15383903965718565, + "release_required_pad_clearance": 0.0526011011668195, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.26540801344415116, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008643865585327148, + "max_z_decrease": 0.008643865585327148, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035016177655212505, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008643865585327148, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.021001687037394964, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008643865585327148, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008643974837791241, + "max_button_displacement": 0.12, + "button_start": [ + 0.13662891089916226, + -0.4624676704406738, + 0.7768088579177856 + ], + "button_final": [ + 0.13662891089916226, + -0.4624676704406738, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13647698376003334, + -0.46369644251392395, + 0.8035255819746792 + ], + "closest_button": [ + 0.13663023710250854, + -0.4624271392822265, + 0.7685327529907227 + ], + "closest_ee_minus_button": [ + -0.00015325334247520694, + -0.0012693032316974384, + 0.0349928289839565 + ], + "button_min_z_position": [ + 0.13662600517272946, + -0.4624243080615997, + 0.7681649923324585 + ], + "min_active_finger_to_button": 0.14580819869528489, + "closest_active_finger": [ + -0.004375629127025604, + -0.44845521450042725, + 0.8108245730400085 + ], + "closest_active_finger_button": [ + 0.13662931323051447, + -0.4624658823013305, + 0.776453971862793 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14100494235754008, + 0.014010667800903265, + 0.034370601177215576 + ], + "min_contact_pad_to_button": 0.021001687037394964, + "closest_contact_pad": [ + 0.13662600517272946, + -0.464799704106349, + 0.7890319123746514 + ], + "closest_contact_pad_button": [ + 0.13662600517272946, + -0.4624243080615997, + 0.7681649923324585 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002375396044749345, + 0.020866920042192927 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 53, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "57dbdab89d0d204effe1131cb5e8a9aec03401977b6187c684b6be15d3262758", + "visual_seed": 3621979879582021253, + "episode_index": 53, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_54_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_54_success.json new file mode 100644 index 0000000000000000000000000000000000000000..399b6dc5358d8c0d3dbe47e1f9c777a15497894e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_54_success.json @@ -0,0 +1,700 @@ +{ + "episode": 54, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30992679989395044, + -0.12063003653604006, + 1.166928084779192 + ], + "current_z": 1.166928084779192, + "required_z": 0.8611066868287001, + "initial_z": 0.7611066868287001, + "lift_margin": 0.305821397950492, + "gripper_z": 1.1579443590668947, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3057753031148511, + -0.12507621285197118, + 1.1579443590668947 + ], + "object_minus_gripper": [ + 0.004151496779099317, + 0.004446176315931125, + 0.00898372571229733 + ], + "object_to_gripper_xy": 0.006083042769800232, + "object_to_gripper_z": 0.00898372571229733, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30992679989395044, + -0.14407680206065304, + 1.166928084779192 + ], + "finger_b": [ + 0.29958237367300106, + -0.12063003653604006, + 1.166928084779192 + ], + "finger_midpoint": [ + 0.3047545867834758, + -0.13235341929834654, + 1.166928084779192 + ], + "object_minus_finger_midpoint": [ + 0.005172213110474666, + 0.011723382762306486, + 0.0 + ], + "finger_gap": 0.025627289505658714, + "fingertip_max_gap": 0.09193851786184479, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01281364475282934, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.166928084779192, + "object_top_z": 1.2170347998178426, + "finger_top_clearance": 0.050106715038650496, + "fingertip_min_top_clearance": 0.015032014511595181, + "object_projection_between_fingers": 0.8370675969670013, + "object_to_finger_line_xy": 0.009464260199491741, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048469258930922396, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.239342029022325, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 343, + "max_stable_success_frames": 343, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.28376101927376207, + -0.41088869409103956, + 0.8515395499278688 + ], + "target_position": [ + 0.276505563384543, + -0.41206436158845233, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007350090763036621, + "xy_threshold": 0.08, + "gripper_dist": 0.18447776014577108, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395499278688, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07516640601554496, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08598820557301227, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15346413135386033, + "release_required_pad_clearance": 0.05299410278650614, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0218144339642585, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008787214756011963, + "max_z_decrease": 0.008787214756011963, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500128038803499, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008787214756011963, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020959329946488994, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 122, + "max_z_decrease_with_contact_point": 0.008787214756011963, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008787394354332269, + "max_button_displacement": 0.12, + "button_start": [ + 0.13220548629760737, + -0.4683258235454559, + 0.7768088579177856 + ], + "button_final": [ + 0.13220548629760737, + -0.4683258235454559, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13278891230964268, + -0.468853478551546, + 0.8030138311691679 + ], + "closest_button": [ + 0.13223585486412046, + -0.468278557062149, + 0.7680216431617737 + ], + "closest_ee_minus_button": [ + 0.0005530574455222259, + -0.0005749214893970289, + 0.03499218800739423 + ], + "button_min_z_position": [ + 0.13223585486412046, + -0.468278557062149, + 0.7680216431617737 + ], + "min_active_finger_to_button": 0.1452114650404057, + "closest_active_finger": [ + -0.00814586877822876, + -0.45409396290779114, + 0.8107194900512695 + ], + "closest_active_finger_button": [ + 0.13220629096031186, + -0.46832296252250666, + 0.7762930989265442 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14035215973854062, + 0.01422899961471552, + 0.03442639112472534 + ], + "min_contact_pad_to_button": 0.020959329946488994, + "closest_contact_pad": [ + 0.13223585486412046, + -0.469923422194115, + 0.7889163298189943 + ], + "closest_contact_pad_button": [ + 0.13223585486412046, + -0.468278557062149, + 0.7680216431617737 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001644865131965989, + 0.020894686657220607 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 54, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b5a9f01e5fe1006fc897bf50131afd5376468651e084e3880a09850b22b3c948", + "visual_seed": 5373237227741709198, + "episode_index": 54, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_55_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_55_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c300a68d58dd90135a1d2d46bcc2fe88ae5faa8a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_55_success.json @@ -0,0 +1,700 @@ +{ + "episode": 55, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.305650167125336, + -0.11764882731295745, + 1.1637478794554243 + ], + "current_z": 1.1637478794554243, + "required_z": 0.8611063888054763, + "initial_z": 0.7611063888054763, + "lift_margin": 0.30264149064994805, + "gripper_z": 1.1548974113492547, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3014882727439179, + -0.12196815946148248, + 1.1548974113492547 + ], + "object_minus_gripper": [ + 0.004161894381418119, + 0.004319332148525035, + 0.008850468106169629 + ], + "object_to_gripper_xy": 0.005998165973975845, + "object_to_gripper_z": 0.008850468106169629, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.305650167125336, + -0.1412001196657012, + 1.1637478794554243 + ], + "finger_b": [ + 0.29559509449851495, + -0.11764882731295745, + 1.1637478794554243 + ], + "finger_midpoint": [ + 0.3006226308119255, + -0.12942447348932934, + 1.1637478794554243 + ], + "object_minus_finger_midpoint": [ + 0.005027536313410519, + 0.01177564617637189, + 0.0 + ], + "finger_gap": 0.025607964718326447, + "fingertip_max_gap": 0.09258956089157558, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012803982359163236, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1637478794554243, + "object_top_z": 1.2138263059659655, + "finger_top_clearance": 0.050078426510541174, + "fingertip_min_top_clearance": 0.015023527953162384, + "object_projection_between_fingers": 0.8458227489360994, + "object_to_finger_line_xy": 0.009247511767026874, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04879478044578779, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8746360453294786, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 345, + "max_stable_success_frames": 345, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.28741808393488905, + -0.41011878433194665, + 0.8515395921812917 + ], + "target_position": [ + 0.28083358693862465, + -0.41107892986569156, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006654132561031918, + "xy_threshold": 0.08, + "gripper_dist": 0.18367890254618557, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395921812917, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07533815207255934, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08509514173686826, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1522396289816695, + "release_required_pad_clearance": 0.05254757086843413, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.16312936385793858, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008744597434997559, + "max_z_decrease": 0.008744597434997559, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035003704241589946, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008744597434997559, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020887778727796895, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008744597434997559, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008744902834300733, + "max_button_displacement": 0.12, + "button_start": [ + 0.13653351366519925, + -0.4673403799533844, + 0.7768088579177856 + ], + "button_final": [ + 0.13653351366519925, + -0.4673403799533844, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13510198692858574, + -0.46764640081750275, + 0.803617986218751 + ], + "closest_button": [ + 0.13657221198081965, + -0.4673176407814026, + 0.7686467170715332 + ], + "closest_ee_minus_button": [ + -0.0014702250522339033, + -0.0003287600361001619, + 0.03497126914721782 + ], + "button_min_z_position": [ + 0.1365934759378433, + -0.46729859709739685, + 0.7680642604827881 + ], + "min_active_finger_to_button": 0.14717136778797177, + "closest_active_finger": [ + -0.0055101364850997925, + -0.449811726808548, + 0.8105219006538391 + ], + "closest_active_finger_button": [ + 0.1365336775779724, + -0.4673397243022918, + 0.776232898235321 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1420438140630722, + 0.01752799749374384, + 0.034289002418518066 + ], + "min_contact_pad_to_button": 0.020887778727796895, + "closest_contact_pad": [ + 0.1365934759378433, + -0.4689497567599386, + 0.7888866756152889 + ], + "closest_contact_pad_button": [ + 0.1365934759378433, + -0.46729859709739685, + 0.7680642604827881 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0016511596625417568, + 0.020822415132500827 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 55, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "03144755b1dab086f5459098b1b8dc5e2dde7f76fb45c801c2e6e20b41132ceb", + "visual_seed": 4091191215068107890, + "episode_index": 55, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_56_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_56_success.json new file mode 100644 index 0000000000000000000000000000000000000000..48b316e57588b377a68ed5b399d944abfb804226 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_56_success.json @@ -0,0 +1,700 @@ +{ + "episode": 56, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30777088716248385, + -0.11874937338903248, + 1.1671430081529688 + ], + "current_z": 1.1671430081529688, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.3060365597428474, + "gripper_z": 1.1584310079171931, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.30348161473600715, + -0.12307636259554676, + 1.1584310079171931 + ], + "object_minus_gripper": [ + 0.004289272426476698, + 0.004326989206514281, + 0.008712000235775674 + ], + "object_to_gripper_xy": 0.00609267540098965, + "object_to_gripper_z": 0.008712000235775674, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30777088716248385, + -0.14248965078306436, + 1.1671430081529688 + ], + "finger_b": [ + 0.29782924393879756, + -0.11874937338903248, + 1.1671430081529688 + ], + "finger_midpoint": [ + 0.3028000655506407, + -0.1306195120860484, + 1.1671430081529688 + ], + "object_minus_finger_midpoint": [ + 0.004970821611843146, + 0.011870138697015933, + 0.0 + ], + "finger_gap": 0.02573785229448348, + "fingertip_max_gap": 0.09286460809268374, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012868926147241735, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1671430081529688, + "object_top_z": 1.2171635826855267, + "finger_top_clearance": 0.050020574532557927, + "fingertip_min_top_clearance": 0.015006172359767377, + "object_projection_between_fingers": 0.8507989983806526, + "object_to_finger_line_xy": 0.009170049046143483, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04893230404634187, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.1748597989173306, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 348, + "max_stable_success_frames": 348, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.28495519800106556, + -0.4125266357167482, + 0.8515396096863779 + ], + "target_position": [ + 0.2786161283503539, + -0.4132723541790496, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0063827815301474265, + "xy_threshold": 0.08, + "gripper_dist": 0.1857147237113743, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396096863779, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07518143823128769, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08781018042209947, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15450732793110492, + "release_required_pad_clearance": 0.053905090211049736, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.82000899117835, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00881105661392212, + "max_z_decrease": 0.00881105661392212, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504136771064825, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00881105661392212, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020933380512751225, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 122, + "max_z_decrease_with_contact_point": 0.00881105661392212, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008811343154787333, + "max_button_displacement": 0.12, + "button_start": [ + 0.13431605696678162, + -0.4695338010787963, + 0.7768088579177856 + ], + "button_final": [ + 0.13431605696678162, + -0.4695338010787963, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13218564769992042, + -0.4702238190275835, + 0.8036198131200594 + ], + "closest_button": [ + 0.13434715569019318, + -0.46950519084930403, + 0.7686525583267212 + ], + "closest_ee_minus_button": [ + -0.0021615079902727596, + -0.0007186281782794457, + 0.034967254793338176 + ], + "button_min_z_position": [ + 0.13437342643737793, + -0.46949186921119673, + 0.7679978013038635 + ], + "min_active_finger_to_button": 0.14789821513104945, + "closest_active_finger": [ + -0.008873574435710907, + -0.45590823888778687, + 0.8107033371925354 + ], + "closest_active_finger_button": [ + 0.1343168318271637, + -0.4695323109626769, + 0.776282787322998 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1431904062628746, + 0.013624072074890026, + 0.034420549869537354 + ], + "min_contact_pad_to_button": 0.020933380512751225, + "closest_contact_pad": [ + 0.13437342643737793, + -0.4712594416878229, + 0.7888564231958176 + ], + "closest_contact_pad_button": [ + 0.13437342643737793, + -0.46949186921119673, + 0.7679978013038635 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001767572476626178, + 0.020858621891954088 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 56, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e91b5f2f4918810d2bbcfea805f0433f043bcd8510af3a8f29dfad19148dcc92", + "visual_seed": 7280770123350876246, + "episode_index": 56, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_57_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_57_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7a1723efc19360c421f12dae60a633f913e96a53 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_57_success.json @@ -0,0 +1,700 @@ +{ + "episode": 57, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30173523029362326, + -0.11774560264941927, + 1.1644303898100716 + ], + "current_z": 1.1644303898100716, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.30332388179530567, + "gripper_z": 1.1558301093538537, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2971407729731447, + -0.12228204072917295, + 1.1558301093538537 + ], + "object_minus_gripper": [ + 0.004594457320478584, + 0.00453643807975368, + 0.008600280456217968 + ], + "object_to_gripper_xy": 0.006456648396895908, + "object_to_gripper_z": 0.008600280456217968, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30173523029362326, + -0.14156618016187286, + 1.1644303898100716 + ], + "finger_b": [ + 0.29133802843913315, + -0.11774560264941927, + 1.1644303898100716 + ], + "finger_midpoint": [ + 0.2965366293663782, + -0.12965589140564607, + 1.1644303898100716 + ], + "object_minus_finger_midpoint": [ + 0.005198600927245056, + 0.011910288756226795, + 0.0 + ], + "finger_gap": 0.025990800669271855, + "fingertip_max_gap": 0.09185301906594637, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012995400334635927, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1644303898100716, + "object_top_z": 1.21453110390279, + "finger_top_clearance": 0.050100714092718324, + "fingertip_min_top_clearance": 0.01503021422781553, + "object_projection_between_fingers": 0.8399728635013297, + "object_to_finger_line_xy": 0.009529038979561632, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048426509532973186, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1368023805560392, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 342, + "max_stable_success_frames": 342, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2911965090603255, + -0.41099604863109385, + 0.8515396657899117 + ], + "target_position": [ + 0.28443805520694726, + -0.41209921259865495, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006847895240697577, + "xy_threshold": 0.08, + "gripper_dist": 0.1828521347696638, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396657899117, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07535216490124803, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08640015159043733, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1512786171106044, + "release_required_pad_clearance": 0.05320007579521867, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4226881970908545, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008864104747772217, + "max_z_decrease": 0.008864104747772217, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500104316151957, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008864104747772217, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020828181220395058, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 122, + "max_z_decrease_with_contact_point": 0.008864104747772217, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00886423720068596, + "max_button_displacement": 0.12, + "button_start": [ + 0.14013798534870148, + -0.46836066246032715, + 0.7768088579177856 + ], + "button_final": [ + 0.14013798534870148, + -0.46836066246032715, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13938166563747043, + -0.4674541593710401, + 0.8033011655665312 + ], + "closest_button": [ + 0.14014004170894623, + -0.4683012366294861, + 0.7683185935020447 + ], + "closest_ee_minus_button": [ + -0.0007583760714758025, + 0.0008470772584459607, + 0.03498257206448652 + ], + "button_min_z_position": [ + 0.14014385640621185, + -0.4683125615119934, + 0.7679447531700134 + ], + "min_active_finger_to_button": 0.1461520502649396, + "closest_active_finger": [ + 0.011739373207092285, + -0.5292321443557739, + 0.810857892036438 + ], + "closest_active_finger_button": [ + 0.14013905823230743, + -0.4683592915534973, + 0.7766754627227783 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12839968502521515, + -0.06087285280227661, + 0.03418242931365967 + ], + "min_contact_pad_to_button": 0.020828181220395058, + "closest_contact_pad": [ + 0.14014385640621185, + -0.46875025505365175, + 0.7887683349299607 + ], + "closest_contact_pad_button": [ + 0.14014385640621185, + -0.4683125615119934, + 0.7679447531700134 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00043769354165834606, + 0.02082358175994725 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 57, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6eb7b94e2b47db1cf7935331124a52a74fe34eb4d21e959c54be8f20813f3fac", + "visual_seed": 3941874472923394104, + "episode_index": 57, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_58_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_58_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a1795b94e1ec494205ff5407f92086eeba07a23f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_58_success.json @@ -0,0 +1,700 @@ +{ + "episode": 58, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3074763020262405, + -0.11940463409994828, + 1.164970581870658 + ], + "current_z": 1.164970581870658, + "required_z": 0.8611066272240555, + "initial_z": 0.7611066272240555, + "lift_margin": 0.30386395464660243, + "gripper_z": 1.155864838316367, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.30343810326060394, + -0.12384208499969837, + 1.155864838316367 + ], + "object_minus_gripper": [ + 0.004038198765636547, + 0.0044374508997500894, + 0.009105743554290946 + ], + "object_to_gripper_xy": 0.005999834977604084, + "object_to_gripper_z": 0.009105743554290946, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3074763020262405, + -0.14263970632631706, + 1.164970581870658 + ], + "finger_b": [ + 0.29698179521918155, + -0.11940463409994828, + 1.164970581870658 + ], + "finger_midpoint": [ + 0.30222904862271105, + -0.13102217021313267, + 1.164970581870658 + ], + "object_minus_finger_midpoint": [ + 0.005247253403529439, + 0.01161753611318439, + 0.0 + ], + "finger_gap": 0.025495161393644484, + "fingertip_max_gap": 0.09155666872009463, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012747580696822232, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.164970581870658, + "object_top_z": 1.2150477859303468, + "finger_top_clearance": 0.05007720405968885, + "fingertip_min_top_clearance": 0.015023161217906655, + "object_projection_between_fingers": 0.8305628897040501, + "object_to_finger_line_xy": 0.009564192196207, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04827833436004732, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.927012710853503, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 346, + "max_stable_success_frames": 346, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2854243587825787, + -0.4048661139383344, + 0.8515395820828439 + ], + "target_position": [ + 0.27902905752320606, + -0.40589078619051583, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006476868952088197, + "xy_threshold": 0.08, + "gripper_dist": 0.18551951714318507, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395820828439, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07576112348546025, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08564228868953243, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1529418913780521, + "release_required_pad_clearance": 0.052821144344766216, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6875618956542104, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008583545684814453, + "max_z_decrease": 0.008583545684814453, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035028086231803514, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008583545684814453, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020901164218579894, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008583545684814453, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00858371066432496, + "max_button_displacement": 0.12, + "button_start": [ + 0.1347289830446243, + -0.4621522426605224, + 0.7768088579177856 + ], + "button_final": [ + 0.1347289830446243, + -0.4621522426605224, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13613592100983923, + -0.4619154452734723, + 0.8034907951837607 + ], + "closest_button": [ + 0.13476380705833432, + -0.4621207118034363, + 0.768490195274353 + ], + "closest_ee_minus_button": [ + 0.0013721139515049108, + 0.00020526652996399886, + 0.035000599909407626 + ], + "button_min_z_position": [ + 0.13476593792438504, + -0.4621139466762542, + 0.7682253122329712 + ], + "min_active_finger_to_button": 0.1444779114529283, + "closest_active_finger": [ + -0.004634566605091095, + -0.4456367492675781, + 0.8108027577400208 + ], + "closest_active_finger_button": [ + 0.13472923636436462, + -0.46215012669563293, + 0.7764675617218018 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13936380296945572, + 0.01651337742805481, + 0.034335196018218994 + ], + "min_contact_pad_to_button": 0.020901164218579894, + "closest_contact_pad": [ + 0.13476593792438504, + -0.4631247026356761, + 0.7891020226558931 + ], + "closest_contact_pad_button": [ + 0.13476593792438504, + -0.4621139466762542, + 0.7682253122329712 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001010755959421905, + 0.02087671042292194 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 58, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6c7db4f43e4b8a4da37bd7b327cd0f32361ec0911bf1793831e7a8e77907d7c1", + "visual_seed": 634309871248595734, + "episode_index": 58, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_59_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_59_success.json new file mode 100644 index 0000000000000000000000000000000000000000..175c3b6320eb63127d848045d35db106979a9364 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_59_success.json @@ -0,0 +1,700 @@ +{ + "episode": 59, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3035404755092635, + -0.12387349714409113, + 1.1680887135938618 + ], + "current_z": 1.1680887135938618, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.3069822651837406, + "gripper_z": 1.1589085174476632, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2996917230604563, + -0.12823178346130704, + 1.1589085174476632 + ], + "object_minus_gripper": [ + 0.003848752448807169, + 0.004358286317215909, + 0.009180196146198583 + ], + "object_to_gripper_xy": 0.005814426457960458, + "object_to_gripper_z": 0.009180196146198583, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3035404755092635, + -0.1470045728674518, + 1.1680887135938618 + ], + "finger_b": [ + 0.29324231788190736, + -0.12387349714409113, + 1.1680887135938618 + ], + "finger_midpoint": [ + 0.29839139669558545, + -0.13543903500577148, + 1.1680887135938618 + ], + "object_minus_finger_midpoint": [ + 0.005149078813678043, + 0.011565537861680353, + 0.0 + ], + "finger_gap": 0.025319927224178966, + "fingertip_max_gap": 0.09235944674795268, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012659963612089485, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1680887135938618, + "object_top_z": 1.2183133773226364, + "finger_top_clearance": 0.050224663728774654, + "fingertip_min_top_clearance": 0.015067399118632429, + "object_projection_between_fingers": 0.8345776584846175, + "object_to_finger_line_xy": 0.009407904761353565, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048679723373976344, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3606266129639588, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 348, + "max_stable_success_frames": 348, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.29012395655336554, + -0.4057005895364385, + 0.8515395762681319 + ], + "target_position": [ + 0.2844355688888485, + -0.406385224260239, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005729439669536864, + "xy_threshold": 0.08, + "gripper_dist": 0.18440293139775096, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395762681319, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07560079778294383, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08613907081961951, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1521010278148335, + "release_required_pad_clearance": 0.05306953540980976, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.168336114501198, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008757054805755615, + "max_z_decrease": 0.008757054805755615, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034992625775642126, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008757054805755615, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020936532185876336, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008757054805755615, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00875732938170869, + "max_button_displacement": 0.12, + "button_start": [ + 0.14013549685478208, + -0.4626466929912566, + 0.7768088579177856 + ], + "button_final": [ + 0.14013549685478208, + -0.4626466929912566, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13964916947360673, + -0.46344816060412986, + 0.8036210724603814 + ], + "closest_button": [ + 0.1401744484901428, + -0.46262019872665394, + 0.7686421871185303 + ], + "closest_ee_minus_button": [ + -0.0005252790165360677, + -0.0008279618774759134, + 0.03497888534185112 + ], + "button_min_z_position": [ + 0.14018815755844116, + -0.4626015722751617, + 0.76805180311203 + ], + "min_active_finger_to_button": 0.14625245726631392, + "closest_active_finger": [ + -0.001364380121231079, + -0.4489895701408386, + 0.8106444478034973 + ], + "closest_active_finger_button": [ + 0.14013607800006866, + -0.46264493465423573, + 0.7762797474861145 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14150045812129974, + 0.013655364513397106, + 0.03436470031738281 + ], + "min_contact_pad_to_button": 0.020936532185876336, + "closest_contact_pad": [ + 0.14018815755844116, + -0.4644841334632405, + 0.7889035259028062 + ], + "closest_contact_pad_button": [ + 0.14018815755844116, + -0.4626015722751617, + 0.76805180311203 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001882561188078835, + 0.020851722790776184 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 59, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0a6d5af070a6841de15c2ba51d3f5d541869ebef60c4ae7d94443fdd6b2b2c85", + "visual_seed": 8366919151538319911, + "episode_index": 59, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_5_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_5_success.json new file mode 100644 index 0000000000000000000000000000000000000000..84a6c729f0d2808158b37979a9a9e7cfd4386574 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_5_success.json @@ -0,0 +1,700 @@ +{ + "episode": 5, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30454813744757037, + -0.11693286250097572, + 1.1652791030877276 + ], + "current_z": 1.1652791030877276, + "required_z": 0.8611063888054762, + "initial_z": 0.7611063888054762, + "lift_margin": 0.30417271428225146, + "gripper_z": 1.1565420604780912, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.30023483122941463, + -0.12132744002560164, + 1.1565420604780912 + ], + "object_minus_gripper": [ + 0.0043133062181557325, + 0.004394577524625923, + 0.00873704260963648 + ], + "object_to_gripper_xy": 0.0061576718125869795, + "object_to_gripper_z": 0.00873704260963648, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30454813744757037, + -0.1405560519837941, + 1.1652791030877276 + ], + "finger_b": [ + 0.2943489184940899, + -0.11693286250097572, + 1.1652791030877276 + ], + "finger_midpoint": [ + 0.2994485279708301, + -0.1287444572423849, + 1.1652791030877276 + ], + "object_minus_finger_midpoint": [ + 0.005099609476740263, + 0.011811594741409179, + 0.0 + ], + "finger_gap": 0.025730898713456858, + "fingertip_max_gap": 0.09251647365552293, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012865449356728433, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1652791030877276, + "object_top_z": 1.2153656110682673, + "finger_top_clearance": 0.05008650798053971, + "fingertip_min_top_clearance": 0.015025952394161912, + "object_projection_between_fingers": 0.8428827316482363, + "object_to_finger_line_xy": 0.009363764732741918, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04875823682776147, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.789480485062227, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 344, + "max_stable_success_frames": 344, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.28218222066097176, + -0.4034205851174899, + 0.851539597176331 + ], + "target_position": [ + 0.27568006197289047, + -0.4042369418728315, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006553205777097413, + "xy_threshold": 0.08, + "gripper_dist": 0.18575663617974184, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539597176331, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07554681608027672, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08805283961013731, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15360908182711788, + "release_required_pad_clearance": 0.05402641980506866, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.064502996950065, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008744776248931885, + "max_z_decrease": 0.008744776248931885, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501646364394173, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008744776248931885, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.02094898642315619, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008744776248931885, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008744895469596755, + "max_button_displacement": 0.12, + "button_start": [ + 0.13137999176979065, + -0.46049839258193964, + 0.7768088579177856 + ], + "button_final": [ + 0.13137999176979065, + -0.46049839258193964, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13228011561001998, + -0.46083268634927166, + 0.8034396767137603 + ], + "closest_button": [ + 0.13137830793857574, + -0.4604509770870208, + 0.7684369087219238 + ], + "closest_ee_minus_button": [ + 0.000901807671444238, + -0.00038170926225084, + 0.035002767991836437 + ], + "button_min_z_position": [ + 0.1313726007938385, + -0.46045333147048945, + 0.7680640816688538 + ], + "min_active_finger_to_button": 0.14486632305498273, + "closest_active_finger": [ + -0.00842064619064331, + -0.44434458017349243, + 0.8110271692276001 + ], + "closest_active_finger_button": [ + 0.13138170540332794, + -0.4604957103729248, + 0.7766659259796143 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13980235159397125, + 0.016151130199432373, + 0.03436124324798584 + ], + "min_contact_pad_to_button": 0.02094898642315619, + "closest_contact_pad": [ + 0.1313726007938385, + -0.46204604283431727, + 0.7889524349469156 + ], + "closest_contact_pad_button": [ + 0.1313726007938385, + -0.46045333147048945, + 0.7680640816688538 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0015927113638278256, + 0.020888353278061822 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 5, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "389a1d054eeaeaa037494b345ab38d9450a02b8177f077ea85bb52bc201f8388", + "visual_seed": 4215190462522764585, + "episode_index": 5, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_60_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_60_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d402f2b2fe08ea48068702115b953b3c317a2885 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_60_success.json @@ -0,0 +1,700 @@ +{ + "episode": 60, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.31004476150707705, + -0.1240345719164579, + 1.1671898097990425 + ], + "current_z": 1.1671898097990425, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.30608336138892134, + "gripper_z": 1.1582772255833271, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3056804248863064, + -0.12841634455007778, + 1.1582772255833271 + ], + "object_minus_gripper": [ + 0.004364336620770626, + 0.004381772633619871, + 0.008912584215715391 + ], + "object_to_gripper_xy": 0.006184445452272951, + "object_to_gripper_z": 0.008912584215715391, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.31004476150707705, + -0.1477934968097467, + 1.1671898097990425 + ], + "finger_b": [ + 0.2999785487476385, + -0.1240345719164579, + 1.1671898097990425 + ], + "finger_midpoint": [ + 0.3050116551273578, + -0.13591403436310232, + 1.1671898097990425 + ], + "object_minus_finger_midpoint": [ + 0.0050331063797192654, + 0.01187946244664441, + 0.0 + ], + "finger_gap": 0.025803394183773993, + "fingertip_max_gap": 0.09204419734743177, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012901697091887002, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1671898097990425, + "object_top_z": 1.2171923740106998, + "finger_top_clearance": 0.050002564211657274, + "fingertip_min_top_clearance": 0.015000769263497181, + "object_projection_between_fingers": 0.8478126562534204, + "object_to_finger_line_xy": 0.009268640831048452, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04852209867371589, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4141001162994087, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 349, + "max_stable_success_frames": 349, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2847775025682247, + -0.4094921715353622, + 0.8515395663945983 + ], + "target_position": [ + 0.27845046191206985, + -0.4103237125131051, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006381449981179993, + "xy_threshold": 0.08, + "gripper_dist": 0.18554515226588686, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395663945983, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07535430550997532, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08662378417950932, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15392728702552377, + "release_required_pad_clearance": 0.05331189208975466, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.641829165415868, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008646130561828613, + "max_z_decrease": 0.008646130561828613, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503545628462928, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008646130561828613, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020859186803863894, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008646130561828613, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008646396988285988, + "max_button_displacement": 0.12, + "button_start": [ + 0.13415038585662842, + -0.46658515930175776, + 0.7768088579177856 + ], + "button_final": [ + 0.13415038585662842, + -0.46658515930175776, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1335536076213715, + -0.46482015825798856, + 0.8036219366666455 + ], + "closest_button": [ + 0.13418956100940704, + -0.4665569067001343, + 0.7686353325843811 + ], + "closest_ee_minus_button": [ + -0.0006359533880355428, + 0.001736748442145719, + 0.034986604082264394 + ], + "button_min_z_position": [ + 0.13421006500720978, + -0.4665528237819671, + 0.768162727355957 + ], + "min_active_finger_to_button": 0.1456996935174551, + "closest_active_finger": [ + 0.006385907530784607, + -0.5276558995246887, + 0.810653030872345 + ], + "closest_active_finger_button": [ + 0.13415074348449707, + -0.466583102941513, + 0.7763797044754028 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12776483595371246, + -0.061072796583175715, + 0.03427332639694214 + ], + "min_contact_pad_to_button": 0.020859186803863894, + "closest_contact_pad": [ + 0.13421006500720978, + -0.4665528237819671, + 0.7890219141598209 + ], + "closest_contact_pad_button": [ + 0.13421006500720978, + -0.4665528237819671, + 0.768162727355957 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020859186803863894 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 60, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1911690a4f76f17da5ee56b5c25cc7dbebb7527ec744b8cc82fa8152f114e91b", + "visual_seed": 7720091209131844960, + "episode_index": 60, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_61_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_61_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1818ae1fc48739ac83f9435811d08e612aa14b5d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_61_success.json @@ -0,0 +1,700 @@ +{ + "episode": 61, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.310847415330885, + -0.12564134284394646, + 1.1677471427555584 + ], + "current_z": 1.1677471427555584, + "required_z": 0.861106567619411, + "initial_z": 0.761106567619411, + "lift_margin": 0.3066405751361474, + "gripper_z": 1.1586466450791588, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3068429621202917, + -0.12990359942831836, + 1.1586466450791588 + ], + "object_minus_gripper": [ + 0.004004453210593284, + 0.004262256584371904, + 0.009100497676399533 + ], + "object_to_gripper_xy": 0.005848288357019728, + "object_to_gripper_z": 0.009100497676399533, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.310847415330885, + -0.14910543696476372, + 1.1677471427555584 + ], + "finger_b": [ + 0.30090535788620204, + -0.12564134284394646, + 1.1677471427555584 + ], + "finger_midpoint": [ + 0.30587638660854355, + -0.1373733899043551, + 1.1677471427555584 + ], + "object_minus_finger_midpoint": [ + 0.004971028722341453, + 0.011732047060408646, + 0.0 + ], + "finger_gap": 0.02548348914775893, + "fingertip_max_gap": 0.09244293135326212, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012741744573879468, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1677471427555584, + "object_top_z": 1.2177934228078366, + "finger_top_clearance": 0.05004628005227829, + "fingertip_min_top_clearance": 0.015013884015683487, + "object_projection_between_fingers": 0.8477929546939317, + "object_to_finger_line_xy": 0.009154216296049405, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04872146567663106, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8026015187623654, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 350, + "max_stable_success_frames": 350, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2831819602459086, + -0.4109117066357009, + 0.8515395774887287 + ], + "target_position": [ + 0.2769002147774529, + -0.4118573655180444, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006352526808461218, + "xy_threshold": 0.08, + "gripper_dist": 0.18257373377147398, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395774887287, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07564096222294059, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08726168165920549, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1503182617450439, + "release_required_pad_clearance": 0.05363084082960275, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.271821806578457, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008815467357635498, + "max_z_decrease": 0.008815467357635498, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501191453625411, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008815467357635498, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.021026018116466556, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 122, + "max_z_decrease_with_contact_point": 0.008815467357635498, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008815734759458443, + "max_button_displacement": 0.12, + "button_start": [ + 0.13260014355182645, + -0.4681188166141509, + 0.7768088579177856 + ], + "button_final": [ + 0.13260014355182645, + -0.4681188166141509, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13267997479539637, + -0.46952621232631947, + 0.8036288663321526 + ], + "closest_button": [ + 0.1326373368501663, + -0.46809214353561396, + 0.7686463594436646 + ], + "closest_ee_minus_button": [ + 4.2637945230072916e-05, + -0.0014340687907055116, + 0.03498250688848803 + ], + "button_min_z_position": [ + 0.13264665007591245, + -0.4680683016777038, + 0.7679933905601501 + ], + "min_active_finger_to_button": 0.1456995132617616, + "closest_active_finger": [ + -0.008401773869991302, + -0.455463707447052, + 0.8107051253318787 + ], + "closest_active_finger_button": [ + 0.1326012164354324, + -0.46811616420745844, + 0.7762606739997864 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1410029903054237, + 0.012652456760406439, + 0.034444451332092285 + ], + "min_contact_pad_to_button": 0.021026018116466556, + "closest_contact_pad": [ + 0.13264665007591245, + -0.4705389852763685, + 0.788873744014756 + ], + "closest_contact_pad_button": [ + 0.13264665007591245, + -0.4680683016777038, + 0.7679933905601501 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0024706835986647024, + 0.020880353454605816 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 61, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9bf2bf24ca8ec639fb691310234badd65af8900fcaee115655fb6f997b8f9941", + "visual_seed": 506724702007839240, + "episode_index": 61, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_62_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_62_success.json new file mode 100644 index 0000000000000000000000000000000000000000..900712a45c1f729d62e8e0bcfaaa15d4663fdac7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_62_success.json @@ -0,0 +1,700 @@ +{ + "episode": 62, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30647951777062715, + -0.12421909880743402, + 1.1655808250077548 + ], + "current_z": 1.1655808250077548, + "required_z": 0.8611065676194107, + "initial_z": 0.7611065676194108, + "lift_margin": 0.3044742573883441, + "gripper_z": 1.1567306634921897, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.30239920317689517, + -0.12849316442208916, + 1.1567306634921897 + ], + "object_minus_gripper": [ + 0.004080314593731982, + 0.00427406561465514, + 0.00885016151556517 + ], + "object_to_gripper_xy": 0.005909027336389603, + "object_to_gripper_z": 0.00885016151556517, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30647951777062715, + -0.14777106947863353, + 1.1655808250077548 + ], + "finger_b": [ + 0.2965883125461154, + -0.12421909880743402, + 1.1655808250077548 + ], + "finger_midpoint": [ + 0.30153391515837125, + -0.13599508414303377, + 1.1655808250077548 + ], + "object_minus_finger_midpoint": [ + 0.004945602612255906, + 0.011775985335599745, + 0.0 + ], + "finger_gap": 0.025544691489435733, + "fingertip_max_gap": 0.0929863598123635, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01277234574471787, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1655808250077548, + "object_top_z": 1.2157234550459541, + "finger_top_clearance": 0.0501426300381993, + "fingertip_min_top_clearance": 0.015042789011459789, + "object_projection_between_fingers": 0.8500670446040214, + "object_to_finger_line_xy": 0.009119600267901373, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04899317990618175, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.0829345372024335, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 342, + "max_stable_success_frames": 342, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.28484512610017027, + -0.4052307850022012, + 0.8515396025315896 + ], + "target_position": [ + 0.2782541414891195, + -0.40614840738619934, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0066545555060216225, + "xy_threshold": 0.08, + "gripper_dist": 0.18230845532224213, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396025315896, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07534704589008878, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0858149484320224, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15087186313088896, + "release_required_pad_clearance": 0.052907474216011205, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8540860726055349, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00845712423324585, + "max_z_decrease": 0.00845712423324585, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503500618396424, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00845712423324585, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.020897844810923643, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00845712423324585, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008457361645013801, + "max_button_displacement": 0.12, + "button_start": [ + 0.13395406305789948, + -0.4624098539352416, + 0.7768088579177856 + ], + "button_final": [ + 0.13395406305789948, + -0.4624098539352416, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13179823806549118, + -0.4627488659788436, + 0.8036025300922542 + ], + "closest_button": [ + 0.13399460911750793, + -0.4623867571353911, + 0.7686383128166199 + ], + "closest_ee_minus_button": [ + -0.0021963710520167545, + -0.00036210884345250216, + 0.03496421727563437 + ], + "button_min_z_position": [ + 0.13400904834270477, + -0.4623783528804778, + 0.7683517336845398 + ], + "min_active_finger_to_button": 0.14783144186081884, + "closest_active_finger": [ + -0.008804619312286377, + -0.44516488909721375, + 0.8108755350112915 + ], + "closest_active_finger_button": [ + 0.13395325839519498, + -0.4624102413654326, + 0.7765692472457886 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14275787770748136, + 0.017245352268218828, + 0.03430628776550293 + ], + "min_contact_pad_to_button": 0.020897844810923643, + "closest_contact_pad": [ + 0.13400904834270477, + -0.46406117862555757, + 0.7891817124472065 + ], + "closest_contact_pad_button": [ + 0.13400904834270477, + -0.4623783528804778, + 0.7683517336845398 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0016828257450797746, + 0.02082997876266668 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 62, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "909aabc9e1dc6ec7a052b44840a8de317b2a7f3936d2b7eeccae777a95790fca", + "visual_seed": 7510262921657061877, + "episode_index": 62, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_63_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_63_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8961802231b8a38c148122c9e7276d8cf4ac3ec4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_63_success.json @@ -0,0 +1,700 @@ +{ + "episode": 63, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3090535397982844, + -0.12183999992796102, + 1.164672395527576 + ], + "current_z": 1.164672395527576, + "required_z": 0.861106567619411, + "initial_z": 0.761106567619411, + "lift_margin": 0.303565827908165, + "gripper_z": 1.1555370179351545, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.304897144375869, + -0.1263086927759528, + 1.1555370179351545 + ], + "object_minus_gripper": [ + 0.004156395422415415, + 0.004468692847991784, + 0.009135377592421445 + ], + "object_to_gripper_xy": 0.006102854961177494, + "object_to_gripper_z": 0.009135377592421445, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3090535397982844, + -0.14525102539045853, + 1.164672395527576 + ], + "finger_b": [ + 0.29861041778196334, + -0.12183999992796102, + 1.164672395527576 + ], + "finger_midpoint": [ + 0.3038319787901239, + -0.13354551265920978, + 1.164672395527576 + ], + "object_minus_finger_midpoint": [ + 0.0052215610081605135, + 0.011705512731248757, + 0.0 + ], + "finger_gap": 0.025634642783808732, + "fingertip_max_gap": 0.09123380860753985, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012817321391904354, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.164672395527576, + "object_top_z": 1.2146980747564444, + "finger_top_clearance": 0.05002567922886847, + "fingertip_min_top_clearance": 0.015007703768660573, + "object_projection_between_fingers": 0.8340389535242948, + "object_to_finger_line_xy": 0.009537257745073083, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04811690430376993, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6319014753761214, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 348, + "max_stable_success_frames": 348, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.28565471575391954, + -0.40691944126302815, + 0.8515395741854586 + ], + "target_position": [ + 0.27886700198309067, + -0.4079812640035482, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006870263878992241, + "xy_threshold": 0.08, + "gripper_dist": 0.18350453095665045, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395741854586, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07534714099522241, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0849957755610312, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15191771157488068, + "release_required_pad_clearance": 0.052497887780515604, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.06852803878267955, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00859212875366211, + "max_z_decrease": 0.00859212875366211, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504726851189128, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00859212875366211, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.020881716672039086, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00859212875366211, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008592310514763004, + "max_button_displacement": 0.12, + "button_start": [ + 0.1345669329166412, + -0.46424272656440724, + 0.7768088579177856 + ], + "button_final": [ + 0.1345669329166412, + -0.46424272656440724, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1356504398319196, + -0.46275723749772796, + 0.8032185269697566 + ], + "closest_button": [ + 0.13461036980152125, + -0.4642075598239898, + 0.7682167291641235 + ], + "closest_ee_minus_button": [ + 0.0010400700303983546, + 0.0014503223262618548, + 0.03500179780563306 + ], + "button_min_z_position": [ + 0.13461036980152125, + -0.4642075598239898, + 0.7682167291641235 + ], + "min_active_finger_to_button": 0.1442978068498252, + "closest_active_finger": [ + 0.008996494114398956, + -0.5265140533447266, + 0.8107986450195312 + ], + "closest_active_finger_button": [ + 0.1345674991607666, + -0.4642403721809386, + 0.776509165763855 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12557100504636765, + -0.06227368116378795, + 0.03428947925567627 + ], + "min_contact_pad_to_button": 0.020881716672039086, + "closest_contact_pad": [ + 0.13461036980152125, + -0.4642075598239898, + 0.7890984458361626 + ], + "closest_contact_pad_button": [ + 0.13461036980152125, + -0.4642075598239898, + 0.7682167291641235 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020881716672039086 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 63, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "51405e5eb04056bba30371d15af380c9a6eab7da3d594451dea213a94710e197", + "visual_seed": 3491006754933422944, + "episode_index": 63, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_64_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_64_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7a3a3599c62c920b8493f2e478a343cbfb4acdc6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_64_success.json @@ -0,0 +1,700 @@ +{ + "episode": 64, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30460151308437894, + -0.12310597631299937, + 1.1643394708097112 + ], + "current_z": 1.1643394708097112, + "required_z": 0.8611063292008319, + "initial_z": 0.7611063292008319, + "lift_margin": 0.3032331416088794, + "gripper_z": 1.1554941638274496, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.30048868696142195, + -0.12740711344493577, + 1.1554941638274496 + ], + "object_minus_gripper": [ + 0.004112826122956992, + 0.004301137131936403, + 0.008845306982261603 + ], + "object_to_gripper_xy": 0.0059510603547098685, + "object_to_gripper_z": 0.008845306982261603, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30460151308437894, + -0.14665339766440616, + 1.1643394708097112 + ], + "finger_b": [ + 0.2946377344400249, + -0.12310597631299937, + 1.1643394708097112 + ], + "finger_midpoint": [ + 0.2996196237622019, + -0.13487968698870276, + 1.1643394708097112 + ], + "object_minus_finger_midpoint": [ + 0.004981889322177024, + 0.011773710675703389, + 0.0 + ], + "finger_gap": 0.025568690564328363, + "fingertip_max_gap": 0.09276752496400056, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012784345282164175, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1643394708097112, + "object_top_z": 1.2144770825792692, + "finger_top_clearance": 0.050137611769558, + "fingertip_min_top_clearance": 0.015041283530867432, + "object_projection_between_fingers": 0.8481442759949144, + "object_to_finger_line_xy": 0.009176116915352733, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048883762482000284, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.878534763324835, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 342, + "max_stable_success_frames": 342, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.287019521776491, + -0.4037556976177347, + 0.8515396040689119 + ], + "target_position": [ + 0.2811356403426229, + -0.4043257283127215, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0059114292452032875, + "xy_threshold": 0.08, + "gripper_dist": 0.18408668563320726, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396040689119, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07548445245282526, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08666607200799191, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1520601614659468, + "release_required_pad_clearance": 0.05333303600399596, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.683258706775275, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008465409278869629, + "max_z_decrease": 0.008465409278869629, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500249663675577, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008465409278869629, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02084711869110265, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008465409278869629, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008465608036167938, + "max_button_displacement": 0.12, + "button_start": [ + 0.13683556020259854, + -0.4605871737003326, + 0.7768088579177856 + ], + "button_final": [ + 0.13683556020259854, + -0.4605871737003326, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13632403221940326, + -0.4596106758220618, + 0.8036116408702405 + ], + "closest_button": [ + 0.13687683641910553, + -0.4605579674243927, + 0.76862633228302 + ], + "closest_ee_minus_button": [ + -0.0005528041997022726, + 0.0009472916023309241, + 0.03498530858722049 + ], + "button_min_z_position": [ + 0.1368846148252487, + -0.4605562090873718, + 0.768343448638916 + ], + "min_active_finger_to_button": 0.14590566927621812, + "closest_active_finger": [ + 0.008557058870792389, + -0.5211125612258911, + 0.8107226490974426 + ], + "closest_active_finger_button": [ + 0.1368355900049209, + -0.4605859518051147, + 0.7765230536460876 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12827853113412852, + -0.06052660942077642, + 0.03419959545135498 + ], + "min_contact_pad_to_button": 0.02084711869110265, + "closest_contact_pad": [ + 0.1368846148252487, + -0.46095028136139454, + 0.7891868424308053 + ], + "closest_contact_pad_button": [ + 0.1368846148252487, + -0.4605562090873718, + 0.768343448638916 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0003940722740227165, + 0.020843393791889264 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 64, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5c467a17e9ca5c4772d9678f3d0ac50b241c68928edfac40088f96dc63dadd3c", + "visual_seed": 8642472252795613613, + "episode_index": 64, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_65_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_65_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5fc20d77123b9fcbc9cab15c2499f19325e167ef --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_65_success.json @@ -0,0 +1,700 @@ +{ + "episode": 65, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30602018161075034, + -0.12148714574014968, + 1.1660587394646011 + ], + "current_z": 1.1660587394646011, + "required_z": 0.8611068060379897, + "initial_z": 0.7611068060379897, + "lift_margin": 0.3049519334266114, + "gripper_z": 1.1571723679402213, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.30193304554158784, + -0.12573178553014236, + 1.1571723679402213 + ], + "object_minus_gripper": [ + 0.0040871360691625, + 0.004244639789992677, + 0.008886371524379877 + ], + "object_to_gripper_xy": 0.005892507801830912, + "object_to_gripper_z": 0.008886371524379877, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30602018161075034, + -0.14495233732218932, + 1.1660587394646011 + ], + "finger_b": [ + 0.2960544189368675, + -0.12148714574014968, + 1.1660587394646011 + ], + "finger_midpoint": [ + 0.3010373002738089, + -0.1332197415311695, + 1.1660587394646011 + ], + "object_minus_finger_midpoint": [ + 0.004982881336941414, + 0.011732595791019818, + 0.0 + ], + "finger_gap": 0.025493756915252408, + "fingertip_max_gap": 0.09259635455132623, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012746878457626204, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1660587394646011, + "object_top_z": 1.2161746236279973, + "finger_top_clearance": 0.050115884163396185, + "fingertip_min_top_clearance": 0.015034765249018821, + "object_projection_between_fingers": 0.8471894283844827, + "object_to_finger_line_xy": 0.009172776346035279, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048798177275663115, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9749461795114576, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 343, + "max_stable_success_frames": 343, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2810763642330922, + -0.4104445549726916, + 0.8515395764974911 + ], + "target_position": [ + 0.27473089733127, + -0.4111612080287712, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006385807842779893, + "xy_threshold": 0.08, + "gripper_dist": 0.1842716995137049, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395764974911, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07513028009135717, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08508996651512814, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15327655912073124, + "release_required_pad_clearance": 0.05254498325756407, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.15825873861274384, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008578300476074219, + "max_z_decrease": 0.008578300476074219, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035018797191443206, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008578300476074219, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020867812896626495, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008578300476074219, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008578502068131665, + "max_button_displacement": 0.12, + "button_start": [ + 0.1304308176040649, + -0.46742266416549677, + 0.7768088579177856 + ], + "button_final": [ + 0.1304308176040649, + -0.46742266416549677, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13080294175617027, + -0.4661456512201612, + 0.8035638276427379 + ], + "closest_button": [ + 0.13047026097774503, + -0.46739411354064936, + 0.7685688734054565 + ], + "closest_ee_minus_button": [ + 0.0003326807784252428, + 0.0012484623204881418, + 0.034994954237281384 + ], + "button_min_z_position": [ + 0.13047966361045832, + -0.46738991141319264, + 0.7682305574417114 + ], + "min_active_finger_to_button": 0.14503937607103043, + "closest_active_finger": [ + 0.0029890239238739014, + -0.5276013016700745, + 0.8107105493545532 + ], + "closest_active_finger_button": [ + 0.13043098151683802, + -0.4674208760261535, + 0.7764573097229004 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12744195759296412, + -0.060180425643920954, + 0.03425323963165283 + ], + "min_contact_pad_to_button": 0.020867812896626495, + "closest_contact_pad": [ + 0.13047966361045832, + -0.4674839563636723, + 0.7890981584211221 + ], + "closest_contact_pad_button": [ + 0.13047966361045832, + -0.46738991141319264, + 0.7682305574417114 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -9.404495047965478e-05, + 0.02086760097941065 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 65, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c08aebdfc26c63d358e2658e43f399ec15684f967dad642f3889b474812be8a9", + "visual_seed": 9108786885726286514, + "episode_index": 65, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_66_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_66_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d68ef27dcc33ab9162ef3cc0268e18a1057393cb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_66_success.json @@ -0,0 +1,700 @@ +{ + "episode": 66, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30918059799134917, + -0.12541132582015632, + 1.1663096444111152 + ], + "current_z": 1.1663096444111152, + "required_z": 0.8611063888054765, + "initial_z": 0.7611063888054765, + "lift_margin": 0.30520325560563866, + "gripper_z": 1.1571042370502789, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3052084751046844, + -0.12976169836786952, + 1.1571042370502789 + ], + "object_minus_gripper": [ + 0.003972122886664764, + 0.004350372547713199, + 0.009205407360836304 + ], + "object_to_gripper_xy": 0.0058909677923633785, + "object_to_gripper_z": 0.009205407360836304, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30918059799134917, + -0.14873463389849717, + 1.1663096444111152 + ], + "finger_b": [ + 0.29897905022440047, + -0.12541132582015632, + 1.1663096444111152 + ], + "finger_midpoint": [ + 0.3040798241078748, + -0.13707297985932676, + 1.1663096444111152 + ], + "object_minus_finger_midpoint": [ + 0.005100773883474352, + 0.011661654039170438, + 0.0 + ], + "finger_gap": 0.025456792346219417, + "fingertip_max_gap": 0.09200070533996255, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012728396173109722, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1663096444111152, + "object_top_z": 1.2164323573167068, + "finger_top_clearance": 0.05012271290559167, + "fingertip_min_top_clearance": 0.0150368138716775, + "object_projection_between_fingers": 0.8394076790173584, + "object_to_finger_line_xy": 0.009346575884678965, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048500352669981275, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2525986881580777, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 347, + "max_stable_success_frames": 347, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2883964513242547, + -0.4094597161457233, + 0.8515395284924484 + ], + "target_position": [ + 0.28150267128222756, + -0.4107427783210919, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007012164559799854, + "xy_threshold": 0.08, + "gripper_dist": 0.18338151993273175, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395284924484, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07561870663106415, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08738085027372815, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15120187930583917, + "release_required_pad_clearance": 0.053690425136864076, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.3903526865959743, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008762776851654053, + "max_z_decrease": 0.008762776851654053, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035071355788516785, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008762776851654053, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.02086340766044708, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 122, + "max_z_decrease_with_contact_point": 0.008762776851654053, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008763002107255531, + "max_button_displacement": 0.12, + "button_start": [ + 0.13720259070396423, + -0.4670042395591735, + 0.7768088579177856 + ], + "button_final": [ + 0.13720259070396423, + -0.4670042395591735, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13894092668293995, + -0.46566256667038275, + 0.8030524869797317 + ], + "closest_button": [ + 0.13724786043167114, + -0.4669606685638427, + 0.7680460810661316 + ], + "closest_ee_minus_button": [ + 0.0016930662512688044, + 0.0012981018934599686, + 0.03500640591360016 + ], + "button_min_z_position": [ + 0.13724786043167114, + -0.4669606685638427, + 0.7680460810661316 + ], + "min_active_finger_to_button": 0.14372429221381958, + "closest_active_finger": [ + 0.011131741106510162, + -0.5269596576690674, + 0.810405433177948 + ], + "closest_active_finger_button": [ + 0.13720203936100006, + -0.4670025408267974, + 0.7762280106544495 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1260702982544899, + -0.05995711684227001, + 0.034177422523498535 + ], + "min_contact_pad_to_button": 0.02086340766044708, + "closest_contact_pad": [ + 0.13724786043167114, + -0.4670142331514825, + 0.7889094199657649 + ], + "closest_contact_pad_button": [ + 0.13724786043167114, + -0.4669606685638427, + 0.7680460810661316 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -5.356458763977612e-05, + 0.02086333889963332 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 66, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6c10d82c718f39e0ddffe6f6a260f59c7068fcefd99ceaf5f25e79288a6771a7", + "visual_seed": 5514848853485054276, + "episode_index": 66, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_67_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_67_success.json new file mode 100644 index 0000000000000000000000000000000000000000..958a7badbb9d73e37fd035b0f352a7d406979259 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_67_success.json @@ -0,0 +1,700 @@ +{ + "episode": 67, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3012041908342589, + -0.12538207582527644, + 1.1638190598445752 + ], + "current_z": 1.1638190598445752, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.3027125518298094, + "gripper_z": 1.1549500178520749, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.297017651981326, + -0.1296794781884411, + 1.1549500178520749 + ], + "object_minus_gripper": [ + 0.004186538852932908, + 0.004297402363164671, + 0.008869041992500382 + ], + "object_to_gripper_xy": 0.005999564537368532, + "object_to_gripper_z": 0.008869041992500382, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3012041908342589, + -0.14896799021901214, + 1.1638190598445752 + ], + "finger_b": [ + 0.29124744179379336, + -0.12538207582527644, + 1.1638190598445752 + ], + "finger_midpoint": [ + 0.2962258163140261, + -0.1371750330221443, + 1.1638190598445752 + ], + "object_minus_finger_midpoint": [ + 0.004978374520232809, + 0.011792957196867848, + 0.0 + ], + "finger_gap": 0.02560141029793946, + "fingertip_max_gap": 0.09249634981824092, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01280070514896974, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1638190598445752, + "object_top_z": 1.2139625119054824, + "finger_top_clearance": 0.0501434520609072, + "fingertip_min_top_clearance": 0.015043035618272194, + "object_projection_between_fingers": 0.848745835104374, + "object_to_finger_line_xy": 0.009172894296656482, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048748174909120465, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6876548959060287, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 341, + "max_stable_success_frames": 341, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.28766874826172084, + -0.4076446891415972, + 0.8515395779254692 + ], + "target_position": [ + 0.2810982315019866, + -0.4085508776599859, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00663271197330384, + "xy_threshold": 0.08, + "gripper_dist": 0.18307886597933862, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395779254692, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07530597537099896, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08714305086628214, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15158248161898888, + "release_required_pad_clearance": 0.05357152543314107, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.1540370628868235, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008712351322174072, + "max_z_decrease": 0.008712351322174072, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502580708375242, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008712351322174072, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020972640583709293, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008712351322174072, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00871256841596127, + "max_button_displacement": 0.12, + "button_start": [ + 0.13679815828800201, + -0.46481233835220326, + 0.7768088579177856 + ], + "button_final": [ + 0.13679815828800201, + -0.46481233835220326, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1347294955583001, + -0.465935274639303, + 0.8035869393281837 + ], + "closest_button": [ + 0.13683778047561646, + -0.4647817015647887, + 0.7686436772346497 + ], + "closest_ee_minus_button": [ + -0.00210828491731635, + -0.0011535730745143025, + 0.034943262093534044 + ], + "button_min_z_position": [ + 0.13684570789337155, + -0.46477332711219776, + 0.7680965065956116 + ], + "min_active_finger_to_button": 0.1476950716555097, + "closest_active_finger": [ + -0.0060401782393455505, + -0.4496386647224426, + 0.8106290698051453 + ], + "closest_active_finger_button": [ + 0.13679863512516022, + -0.46481263637542714, + 0.7762683629989624 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14283881336450577, + 0.015173971652984508, + 0.03436070680618286 + ], + "min_contact_pad_to_button": 0.020972640583709293, + "closest_contact_pad": [ + 0.13684570789337155, + -0.46715843021506587, + 0.7889330834795947 + ], + "closest_contact_pad_button": [ + 0.13684570789337155, + -0.46477332711219776, + 0.7680965065956116 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0023851031028681025, + 0.020836576883983104 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 67, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a5d70c1bf691c33ea810d2e5b0516cc7b15034ab53a500e730c8e26b77cc37aa", + "visual_seed": 4225371611587765489, + "episode_index": 67, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_68_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_68_success.json new file mode 100644 index 0000000000000000000000000000000000000000..36d20c503e937f4499f939ad961334a081ee471f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_68_success.json @@ -0,0 +1,700 @@ +{ + "episode": 68, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3065878051516535, + -0.1153601121721807, + 1.164013727861256 + ], + "current_z": 1.164013727861256, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.3029072794511347, + "gripper_z": 1.1553538557908853, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3021812199265257, + -0.11985512196825425, + 1.1553538557908853 + ], + "object_minus_gripper": [ + 0.004406585225127824, + 0.0044950097960735486, + 0.008659872070370556 + ], + "object_to_gripper_xy": 0.006294688746325111, + "object_to_gripper_z": 0.008659872070370556, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3065878051516535, + -0.13913222389382218, + 1.164013727861256 + ], + "finger_b": [ + 0.29634713663707085, + -0.1153601121721807, + 1.164013727861256 + ], + "finger_midpoint": [ + 0.3014674708943622, + -0.12724616803300143, + 1.164013727861256 + ], + "object_minus_finger_midpoint": [ + 0.0051203342572913035, + 0.011886055860820727, + 0.0 + ], + "finger_gap": 0.025884060487716545, + "fingertip_max_gap": 0.0923846496572853, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01294203024385825, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.164013727861256, + "object_top_z": 1.2141043681927757, + "finger_top_clearance": 0.050090640331519776, + "fingertip_min_top_clearance": 0.015027192099455966, + "object_projection_between_fingers": 0.8434720833755038, + "object_to_finger_line_xy": 0.009405105360052854, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04869232482864265, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6089773105382459, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 340, + "max_stable_success_frames": 340, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2860494002274022, + -0.40530736075781953, + 0.8515395567044024 + ], + "target_position": [ + 0.2797311753678954, + -0.4061581133398567, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0063752447271562115, + "xy_threshold": 0.08, + "gripper_dist": 0.18274751001579434, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395567044024, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07558968698758331, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0862452248593266, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15061552114587187, + "release_required_pad_clearance": 0.053122612429663305, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.2716279555414927, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008553385734558105, + "max_z_decrease": 0.008553385734558105, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499550628641045, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008553385734558105, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020888261365244527, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008553385734558105, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008553447315927564, + "max_button_displacement": 0.12, + "button_start": [ + 0.13543109595775604, + -0.46241956949234003, + 0.7768088579177856 + ], + "button_final": [ + 0.13543109595775604, + -0.46241956949234003, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13466112974127276, + -0.46247109375831547, + 0.8036096449169595 + ], + "closest_button": [ + 0.135442852973938, + -0.46237805485725403, + 0.7686229944229126 + ], + "closest_ee_minus_button": [ + -0.0007817232326652324, + -9.303890106143742e-05, + 0.03498665049404692 + ], + "button_min_z_position": [ + 0.13543938100337982, + -0.4623881876468658, + 0.7682554721832275 + ], + "min_active_finger_to_button": 0.14647386956167843, + "closest_active_finger": [ + -0.005870506167411804, + -0.4447479546070099, + 0.8107409477233887 + ], + "closest_active_finger_button": [ + 0.1354309618473053, + -0.4624184668064117, + 0.7764445543289185 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1413014680147171, + 0.0176705121994018, + 0.034296393394470215 + ], + "min_contact_pad_to_button": 0.020888261365244527, + "closest_contact_pad": [ + 0.13543938100337982, + -0.46378567266674814, + 0.7890969332280289 + ], + "closest_contact_pad_button": [ + 0.13543938100337982, + -0.4623881876468658, + 0.7682554721832275 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0013974850198823496, + 0.020841461044801335 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 68, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0e165552193274f0279b729bca9c2d3d854b5a7276d386541e36b13486d4629c", + "visual_seed": 1203087113421550363, + "episode_index": 68, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_69_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_69_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5bcb61f09044b40640e325f135dae928c20efa58 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_69_success.json @@ -0,0 +1,700 @@ +{ + "episode": 69, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3084681948438601, + -0.11902436899039238, + 1.1675337913045456 + ], + "current_z": 1.1675337913045456, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.30642728328977964, + "gripper_z": 1.158502851388022, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3044398255112043, + -0.12347934523306862, + 1.158502851388022 + ], + "object_minus_gripper": [ + 0.004028369332655823, + 0.00445497624267624, + 0.009030939916523595 + ], + "object_to_gripper_xy": 0.006006211185355675, + "object_to_gripper_z": 0.009030939916523595, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3084681948438601, + -0.14230304840334992, + 1.1675337913045456 + ], + "finger_b": [ + 0.29800082731043676, + -0.11902436899039238, + 1.1675337913045456 + ], + "finger_midpoint": [ + 0.30323451107714844, + -0.13066370869687116, + 1.1675337913045456 + ], + "object_minus_finger_midpoint": [ + 0.005233683766711683, + 0.011639339706478777, + 0.0 + ], + "finger_gap": 0.025523767321675276, + "fingertip_max_gap": 0.09212366066664093, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012761883660837645, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1675337913045456, + "object_top_z": 1.2176518396410203, + "finger_top_clearance": 0.05011804833647471, + "fingertip_min_top_clearance": 0.015035414500942378, + "object_projection_between_fingers": 0.8318157227310338, + "object_to_finger_line_xy": 0.00954665077600973, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04856183033332047, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.283661589636574, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 349, + "max_stable_success_frames": 349, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2902727580733325, + -0.4076333040304726, + 0.8515395654381164 + ], + "target_position": [ + 0.28346112558707404, + -0.40887775332651616, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006924376591309526, + "xy_threshold": 0.08, + "gripper_dist": 0.18293548815490102, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395654381164, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07549931987739934, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08616630087725578, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1511498237041076, + "release_required_pad_clearance": 0.053083150438627894, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1948326027099279, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008659005165100098, + "max_z_decrease": 0.008659005165100098, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035026085783763754, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008659005165100098, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.02081549820163342, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008659005165100098, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008659080943567059, + "max_button_displacement": 0.12, + "button_start": [ + 0.13916105031967158, + -0.46513921022415156, + 0.7768088579177856 + ], + "button_final": [ + 0.13916105031967158, + -0.46513921022415156, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13794070622588714, + -0.4637374752967641, + 0.803126997575955 + ], + "closest_button": [ + 0.1391825228929519, + -0.465110033750534, + 0.7681498527526855 + ], + "closest_ee_minus_button": [ + -0.0012418166670647712, + 0.0013725584537698787, + 0.03497714482326941 + ], + "button_min_z_position": [ + 0.1391825228929519, + -0.465110033750534, + 0.7681498527526855 + ], + "min_active_finger_to_button": 0.14634416260983202, + "closest_active_finger": [ + 0.010355085134506226, + -0.5256076455116272, + 0.8105335831642151 + ], + "closest_active_finger_button": [ + 0.13916084170341486, + -0.46513828635215754, + 0.7763407826423645 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12880575656890864, + -0.06046935915946966, + 0.034192800521850586 + ], + "min_contact_pad_to_button": 0.02081549820163342, + "closest_contact_pad": [ + 0.1391825228929519, + -0.465110033750534, + 0.788965350954319 + ], + "closest_contact_pad_button": [ + 0.1391825228929519, + -0.465110033750534, + 0.7681498527526855 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02081549820163342 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 69, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1d9e83f58ac0a59c2d15d450019a596f4154ff5fcb202b3e1bc9a4eff777314d", + "visual_seed": 5837212729598213511, + "episode_index": 69, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_6_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_6_success.json new file mode 100644 index 0000000000000000000000000000000000000000..27ed323106d1a0fd94874fd04d87f5a56fcfd3cc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_6_success.json @@ -0,0 +1,700 @@ +{ + "episode": 6, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30432245748351994, + -0.12488592341244151, + 1.16752784414294 + ], + "current_z": 1.16752784414294, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.3064213361281739, + "gripper_z": 1.158451011122763, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.30052512814670274, + -0.12914030612950156, + 1.158451011122763 + ], + "object_minus_gripper": [ + 0.003797329336817201, + 0.004254382717060051, + 0.009076833020176922 + ], + "object_to_gripper_xy": 0.005702585588614329, + "object_to_gripper_z": 0.009076833020176922, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30432245748351994, + -0.1479990410865493, + 1.16752784414294 + ], + "finger_b": [ + 0.2941945184056347, + -0.12488592341244151, + 1.16752784414294 + ], + "finger_midpoint": [ + 0.2992584879445773, + -0.1364424822494954, + 1.16752784414294 + ], + "object_minus_finger_midpoint": [ + 0.005063969538942614, + 0.011556558837053893, + 0.0 + ], + "finger_gap": 0.02523472525276446, + "fingertip_max_gap": 0.09282756031103725, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01261736262638223, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.16752784414294, + "object_top_z": 1.217735537638684, + "finger_top_clearance": 0.050207693495744055, + "fingertip_min_top_clearance": 0.015062308048723216, + "object_projection_between_fingers": 0.8389187469602509, + "object_to_finger_line_xy": 0.00927643338132683, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04891378015551863, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.0140538033518203, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 345, + "max_stable_success_frames": 345, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2899141211714099, + -0.4087033059087486, + 0.8515395568126807 + ], + "target_position": [ + 0.2827031662460387, + -0.40998436063468535, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007323863198243144, + "xy_threshold": 0.08, + "gripper_dist": 0.18278235499633533, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395568126807, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07523541736932113, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08567010117720307, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15166962306761447, + "release_required_pad_clearance": 0.05283505058860154, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7143600856290971, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008666396141052246, + "max_z_decrease": 0.008666396141052246, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035032391969767165, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008666396141052246, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020844965305375215, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008666396141052246, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008666681012482089, + "max_button_displacement": 0.12, + "button_start": [ + 0.13840308785438535, + -0.46624583005905146, + 0.7768088579177856 + ], + "button_final": [ + 0.13840308785438535, + -0.46624583005905146, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13634385284562037, + -0.4659118949199361, + 0.8035724705509933 + ], + "closest_button": [ + 0.13844552636146545, + -0.4662179648876189, + 0.7686045169830322 + ], + "closest_ee_minus_button": [ + -0.002101673515845087, + 0.00030606996768278716, + 0.03496795356796112 + ], + "button_min_z_position": [ + 0.1384647935628891, + -0.46621221303939814, + 0.7681424617767334 + ], + "min_active_finger_to_button": 0.14753288267915216, + "closest_active_finger": [ + 0.008587829768657684, + -0.52744460105896, + 0.8105560541152954 + ], + "closest_active_finger_button": [ + 0.13840265572071075, + -0.46624556183814997, + 0.7763692140579224 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12981482595205307, + -0.06119903922080999, + 0.03418684005737305 + ], + "min_contact_pad_to_button": 0.020844965305375215, + "closest_contact_pad": [ + 0.1384647935628891, + -0.46723696682790566, + 0.7889622230206871 + ], + "closest_contact_pad_button": [ + 0.1384647935628891, + -0.46621221303939814, + 0.7681424617767334 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0010247537885075264, + 0.020819761243953683 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 6, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8859d01976b74729236920d36fb0420235a87be06b33eb6e15f41eba791a9710", + "visual_seed": 8375820871222134637, + "episode_index": 6, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_70_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_70_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8b81849493ca11dba183b6d042a92e22b6ab5774 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_70_success.json @@ -0,0 +1,700 @@ +{ + "episode": 70, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3042601676470519, + -0.12253774735824496, + 1.1669633023462083 + ], + "current_z": 1.1669633023462083, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.30585685393608697, + "gripper_z": 1.158250166666987, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29985015378354174, + -0.12691672861471934, + 1.158250166666987 + ], + "object_minus_gripper": [ + 0.004410013863510143, + 0.0043789812564743735, + 0.008713135679221162 + ], + "object_to_gripper_xy": 0.006214796788383796, + "object_to_gripper_z": 0.008713135679221162, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3042601676470519, + -0.1462828449090808, + 1.1669633023462083 + ], + "finger_b": [ + 0.2941744779258151, + -0.12253774735824496, + 1.1669633023462083 + ], + "finger_midpoint": [ + 0.2992173227864335, + -0.1344102961336629, + 1.1669633023462083 + ], + "object_minus_finger_midpoint": [ + 0.005042844860618401, + 0.011872548775417935, + 0.0 + ], + "finger_gap": 0.025798271160133425, + "fingertip_max_gap": 0.09244409302410814, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012899135580066725, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1669633023462083, + "object_top_z": 1.2170531349260627, + "finger_top_clearance": 0.05008983257985444, + "fingertip_min_top_clearance": 0.015026949773956333, + "object_projection_between_fingers": 0.84716247363852, + "object_to_finger_line_xy": 0.009283012989967802, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04872204651205407, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.838790984615919, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 342, + "max_stable_success_frames": 342, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2899670975207181, + -0.4085375365956436, + 0.8515395684397151 + ], + "target_position": [ + 0.28390299080309717, + -0.40907093237340203, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00608752013043289, + "xy_threshold": 0.08, + "gripper_dist": 0.18315481362705988, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395684397151, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0752191241684126, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08698058155381765, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15185148199118548, + "release_required_pad_clearance": 0.053490290776908825, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.9932370989849482, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008792698383331299, + "max_z_decrease": 0.008792698383331299, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504144963909162, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008792698383331299, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.02091968239605889, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 122, + "max_z_decrease_with_contact_point": 0.008792698383331299, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008792957677208307, + "max_button_displacement": 0.12, + "button_start": [ + 0.13960291445255277, + -0.46533238887786865, + 0.7768088579177856 + ], + "button_final": [ + 0.13960291445255277, + -0.46533238887786865, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13748074232331536, + -0.4660352357880726, + 0.8035577903170739 + ], + "closest_button": [ + 0.13963656127452845, + -0.4653027057647705, + 0.7685903906822205 + ], + "closest_ee_minus_button": [ + -0.0021558189512130843, + -0.0007325300233020915, + 0.0349673996348534 + ], + "button_min_z_position": [ + 0.13965676724910736, + -0.4652916491031647, + 0.7680161595344543 + ], + "min_active_finger_to_button": 0.14785591414234892, + "closest_active_finger": [ + -0.0035482272505760193, + -0.451630175113678, + 0.8106340169906616 + ], + "closest_active_finger_button": [ + 0.13960351049900052, + -0.4653312563896179, + 0.7762649655342102 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14315173774957654, + 0.013701081275939941, + 0.034369051456451416 + ], + "min_contact_pad_to_button": 0.02091968239605889, + "closest_contact_pad": [ + 0.13965676724910736, + -0.4670753537983759, + 0.7888596599389511 + ], + "closest_contact_pad_button": [ + 0.13965676724910736, + -0.4652916491031647, + 0.7680161595344543 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001783704695211219, + 0.020843500404496784 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 70, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f4d67310fa5a276425556d422e94384cd4a335e3e45907c631e5dbde479ef222", + "visual_seed": 8735643200504108950, + "episode_index": 70, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_71_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_71_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5d14eb0399dda3c981533ea3f0720ef86b1a7479 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_71_success.json @@ -0,0 +1,700 @@ +{ + "episode": 71, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3016401976826174, + -0.11992935797899594, + 1.165135903512816 + ], + "current_z": 1.165135903512816, + "required_z": 0.861106448410121, + "initial_z": 0.761106448410121, + "lift_margin": 0.30402945510269497, + "gripper_z": 1.1564287438187033, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2972228110727919, + -0.12437183841195035, + 1.1564287438187033 + ], + "object_minus_gripper": [ + 0.004417386609825491, + 0.004442480432954407, + 0.00870715969411262 + ], + "object_to_gripper_xy": 0.006264897194515511, + "object_to_gripper_z": 0.00870715969411262, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3016401976826174, + -0.14364710218206653, + 1.165135903512816 + ], + "finger_b": [ + 0.2914108127834254, + -0.11992935797899594, + 1.165135903512816 + ], + "finger_midpoint": [ + 0.2965255052330214, + -0.13178823008053123, + 1.165135903512816 + ], + "object_minus_finger_midpoint": [ + 0.005114692449596003, + 0.011858872101535287, + 0.0 + ], + "finger_gap": 0.025829667158097605, + "fingertip_max_gap": 0.09208565454564452, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012914833579048796, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.165135903512816, + "object_top_z": 1.2152335597276287, + "finger_top_clearance": 0.05009765621481277, + "fingertip_min_top_clearance": 0.015029296864443863, + "object_projection_between_fingers": 0.8431583435666029, + "object_to_finger_line_xy": 0.00939299499713951, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04854282727282226, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3341897965729927, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 344, + "max_stable_success_frames": 344, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2905063281473378, + -0.40526669320586156, + 0.8515395922879035 + ], + "target_position": [ + 0.28361091238163266, + -0.40657518089342165, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007018468394915743, + "xy_threshold": 0.08, + "gripper_dist": 0.18232934805454576, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395922879035, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07556117961142889, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08498264220746092, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1503692044155255, + "release_required_pad_clearance": 0.05249132110373046, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.05595287416979205, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008751153945922852, + "max_z_decrease": 0.008751153945922852, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501574125726463, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008751153945922852, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.02088936026672442, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008751153945922852, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008751380669159594, + "max_button_displacement": 0.12, + "button_start": [ + 0.13931083679199222, + -0.46283665299415583, + 0.7768088579177856 + ], + "button_final": [ + 0.13931083679199222, + -0.46283665299415583, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1403381408708539, + -0.4622589154420164, + 0.8030555691051339 + ], + "closest_button": [ + 0.13935382664203644, + -0.46279060840606684, + 0.7680577039718628 + ], + "closest_ee_minus_button": [ + 0.0009843142288174511, + 0.0005316929640504231, + 0.03499786513327108 + ], + "button_min_z_position": [ + 0.13935382664203644, + -0.46279060840606684, + 0.7680577039718628 + ], + "min_active_finger_to_button": 0.14473715223364286, + "closest_active_finger": [ + 0.01438332349061966, + -0.5273769497871399, + 0.8106127381324768 + ], + "closest_active_finger_button": [ + 0.13931111991405487, + -0.46283414959907526, + 0.7763181924819946 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12492779642343521, + -0.06454280018806463, + 0.03429454565048218 + ], + "min_contact_pad_to_button": 0.02088936026672442, + "closest_contact_pad": [ + 0.13935382664203644, + -0.46323701519392785, + 0.7889422938249759 + ], + "closest_contact_pad_button": [ + 0.13935382664203644, + -0.46279060840606684, + 0.7680577039718628 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00044640678786100896, + 0.020884589853113145 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 71, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c540daadeab56c1e2b8b08939480d0433907122db0a7642abfa1dd9a3ff5d3dd", + "visual_seed": 950757166580547417, + "episode_index": 71, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_72_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_72_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2e7d5c5bc0c26edf844ac89126bfd8b29021608e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_72_success.json @@ -0,0 +1,700 @@ +{ + "episode": 72, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30170733701979563, + -0.12483967831020998, + 1.1633903457438242 + ], + "current_z": 1.1633903457438242, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.30228389733370287, + "gripper_z": 1.1543342235849, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2977232282601204, + -0.1291436931839547, + 1.1543342235849 + ], + "object_minus_gripper": [ + 0.003984108759675253, + 0.00430401487374471, + 0.009056122158924262 + ], + "object_to_gripper_xy": 0.005864952398983029, + "object_to_gripper_z": 0.009056122158924262, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30170733701979563, + -0.14818960791463331, + 1.1633903457438242 + ], + "finger_b": [ + 0.29165664886521137, + -0.12483967831020998, + 1.1633903457438242 + ], + "finger_midpoint": [ + 0.2966819929425035, + -0.13651464311242165, + 1.1633903457438242 + ], + "object_minus_finger_midpoint": [ + 0.005025344077292104, + 0.011674964802211668, + 0.0 + ], + "finger_gap": 0.02542116332727961, + "fingertip_max_gap": 0.09249514797793765, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012710581663639794, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1633903457438242, + "object_top_z": 1.2135958849235637, + "finger_top_clearance": 0.05020553917973958, + "fingertip_min_top_clearance": 0.015061661753921873, + "object_projection_between_fingers": 0.8436849641342139, + "object_to_finger_line_xy": 0.009231790766778748, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048747573988968826, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7298761593408218, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 335, + "max_stable_success_frames": 335, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.28410204702646713, + -0.40923161475081626, + 0.851539573989705 + ], + "target_position": [ + 0.2770925781305491, + -0.41053207599749597, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007129085050478638, + "xy_threshold": 0.08, + "gripper_dist": 0.18460422833184773, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539573989705, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07575589531465175, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08721330112231694, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15217483790216257, + "release_required_pad_clearance": 0.05360665056115847, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.223767125181167, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008559584617614746, + "max_z_decrease": 0.008559584617614746, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502655380655162, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008559584617614746, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02086236027344779, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008559584617614746, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008559627614860505, + "max_button_displacement": 0.12, + "button_start": [ + 0.13279250264167786, + -0.4667935371398925, + 0.7768088579177856 + ], + "button_final": [ + 0.13279250264167786, + -0.4667935371398925, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13201845004472604, + -0.46536020574979003, + 0.8032388482809597 + ], + "closest_button": [ + 0.13279910385608673, + -0.4667672216892242, + 0.7682492733001709 + ], + "closest_ee_minus_button": [ + -0.0007806538113606931, + 0.001407015939434153, + 0.03498957498078881 + ], + "button_min_z_position": [ + 0.13279910385608673, + -0.4667672216892242, + 0.7682492733001709 + ], + "min_active_finger_to_button": 0.14596872650822065, + "closest_active_finger": [ + 0.004996076226234436, + -0.5284277200698853, + 0.8108378052711487 + ], + "closest_active_finger_button": [ + 0.13279303908348083, + -0.4667913913726806, + 0.7765483260154724 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1277969628572464, + -0.061636328697204645, + 0.03428947925567627 + ], + "min_contact_pad_to_button": 0.02086236027344779, + "closest_contact_pad": [ + 0.13279910385608673, + -0.4667672216892242, + 0.7891116335736187 + ], + "closest_contact_pad_button": [ + 0.13279910385608673, + -0.4667672216892242, + 0.7682492733001709 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02086236027344779 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 72, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5fc1dfde2666542c7ff60c73d0d3d81168cfba6bb40b64a218bb6d5d7d0d14f8", + "visual_seed": 3359900745322541803, + "episode_index": 72, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_73_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_73_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5c09d40b7ae9f28fd0aefcb0da01152cbbc35a89 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_73_success.json @@ -0,0 +1,700 @@ +{ + "episode": 73, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30654975106421584, + -0.11897067224968841, + 1.162680152830653 + ], + "current_z": 1.162680152830653, + "required_z": 0.8611067464333451, + "initial_z": 0.7611067464333451, + "lift_margin": 0.3015734063973079, + "gripper_z": 1.153835269315536, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3023082005866658, + -0.1233474275432354, + 1.153835269315536 + ], + "object_minus_gripper": [ + 0.004241550477550038, + 0.004376755293546988, + 0.00884488351511692 + ], + "object_to_gripper_xy": 0.006094812331253239, + "object_to_gripper_z": 0.00884488351511692, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30654975106421584, + -0.14255926566774257, + 1.162680152830653 + ], + "finger_b": [ + 0.296424280784649, + -0.11897067224968841, + 1.162680152830653 + ], + "finger_midpoint": [ + 0.3014870159244324, + -0.13076496895871548, + 1.162680152830653 + ], + "object_minus_finger_midpoint": [ + 0.0050627351397834475, + 0.011794296709027069, + 0.0 + ], + "finger_gap": 0.02566996080683918, + "fingertip_max_gap": 0.09239671261589141, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012834980403419589, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.162680152830653, + "object_top_z": 1.212854062073358, + "finger_top_clearance": 0.05017390924270515, + "fingertip_min_top_clearance": 0.015052172772811578, + "object_projection_between_fingers": 0.8444106038335636, + "object_to_finger_line_xy": 0.009304478623421123, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04869835630794571, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7378658398493194, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 333, + "max_stable_success_frames": 333, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.29022311344086976, + -0.4092575374597258, + 0.8515395632815759 + ], + "target_position": [ + 0.28414329125109766, + -0.4101483856231375, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00614474151689875, + "xy_threshold": 0.08, + "gripper_dist": 0.18431476337901953, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395632815759, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07580914340312551, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08672186134408143, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1516668521658236, + "release_required_pad_clearance": 0.053360930672040716, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.7381629796178095, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008776843547821045, + "max_z_decrease": 0.008776843547821045, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034975187171777916, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008776843547821045, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020892321619269242, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 122, + "max_z_decrease_with_contact_point": 0.008776843547821045, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00877713925298389, + "max_button_displacement": 0.12, + "button_start": [ + 0.13984321057796473, + -0.4664098322391509, + 0.7768088579177856 + ], + "button_final": [ + 0.13984321057796473, + -0.4664098322391509, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13806995447586384, + -0.46695890053031897, + 0.8034270237410144 + ], + "closest_button": [ + 0.13991414010524744, + -0.4663772284984587, + 0.768505334854126 + ], + "closest_ee_minus_button": [ + -0.001844185629383599, + -0.0005816720318602697, + 0.0349216888868884 + ], + "button_min_z_position": [ + 0.13990549743175504, + -0.46637362241744984, + 0.7680320143699646 + ], + "min_active_finger_to_button": 0.1474410039064366, + "closest_active_finger": [ + -0.0025985464453697205, + -0.44990724325180054, + 0.8105148673057556 + ], + "closest_active_finger_button": [ + 0.139843538403511, + -0.4664101004600524, + 0.7762109637260437 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1424420848488807, + 0.016502857208251842, + 0.034303903579711914 + ], + "min_contact_pad_to_button": 0.020892321619269242, + "closest_contact_pad": [ + 0.13991414010524744, + -0.4682335489987458, + 0.7893150243482823 + ], + "closest_contact_pad_button": [ + 0.13991414010524744, + -0.4663772284984587, + 0.768505334854126 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001856320500287112, + 0.02080968949415629 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 73, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6dde467794b81595bba832d6c808a6a773e2b026382ff071eb37004a3e8b8832", + "visual_seed": 6509971073132751433, + "episode_index": 73, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_74_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_74_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2c9ba965916305a97d20935d7f0cbf79eddce468 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_74_success.json @@ -0,0 +1,700 @@ +{ + "episode": 74, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30986910883398444, + -0.12428993732784246, + 1.1673927342507382 + ], + "current_z": 1.1673927342507382, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.30628622623597224, + "gripper_z": 1.1582333109965866, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.30590040763919146, + -0.12864525929663578, + 1.1582333109965866 + ], + "object_minus_gripper": [ + 0.0039687011947929784, + 0.004355321968793319, + 0.009159423254151644 + ], + "object_to_gripper_xy": 0.00589231861200707, + "object_to_gripper_z": 0.009159423254151644, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30986910883398444, + -0.1475625780679536, + 1.1673927342507382 + ], + "finger_b": [ + 0.2996013982374368, + -0.12428993732784246, + 1.1673927342507382 + ], + "finger_midpoint": [ + 0.3047352535357106, + -0.135926257697898, + 1.1673927342507382 + ], + "object_minus_finger_midpoint": [ + 0.005133855298273815, + 0.011636320370055547, + 0.0 + ], + "finger_gap": 0.025437014131236717, + "fingertip_max_gap": 0.09206310654153463, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012718507065618346, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1673927342507382, + "object_top_z": 1.2175170472650567, + "finger_top_clearance": 0.05012431301431852, + "fingertip_min_top_clearance": 0.015037293904295555, + "object_projection_between_fingers": 0.8370647782609723, + "object_to_finger_line_xy": 0.009394056185369851, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048531553270767316, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.377820077265274, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 347, + "max_stable_success_frames": 347, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.28416170956757, + -0.4058986254422409, + 0.8515395646835966 + ], + "target_position": [ + 0.2770378919862039, + -0.40734542492058085, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007269250694748765, + "xy_threshold": 0.08, + "gripper_dist": 0.18423713884202583, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395646835966, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07584677979173263, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08795681293178324, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15147094968773261, + "release_required_pad_clearance": 0.053978406465891624, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.9676978276737276, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00859302282333374, + "max_z_decrease": 0.00859302282333374, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500511716472994, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00859302282333374, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.0209762489104316, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00859302282333374, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00859323864519687, + "max_button_displacement": 0.12, + "button_start": [ + 0.1327378153800964, + -0.4636068940162658, + 0.7768088579177856 + ], + "button_final": [ + 0.1327378153800964, + -0.4636068940162658, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1318609073071281, + -0.46466565755516154, + 0.8036112829724087 + ], + "closest_button": [ + 0.13277286291122434, + -0.46358117461204523, + 0.7686348557472229 + ], + "closest_ee_minus_button": [ + -0.0009119556040962373, + -0.001084482943116305, + 0.03497642722518579 + ], + "button_min_z_position": [ + 0.1327849775552749, + -0.4635683596134185, + 0.7682158350944519 + ], + "min_active_finger_to_button": 0.14662635078008576, + "closest_active_finger": [ + -0.00918474793434143, + -0.45051872730255127, + 0.8109676241874695 + ], + "closest_active_finger_button": [ + 0.13273775577545163, + -0.4636059701442718, + 0.77652907371521 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14192250370979306, + 0.013087242841720526, + 0.03443855047225952 + ], + "min_contact_pad_to_button": 0.0209762489104316, + "closest_contact_pad": [ + 0.1327849775552749, + -0.4656762552862184, + 0.7890859044327405 + ], + "closest_contact_pad_button": [ + 0.1327849775552749, + -0.4635683596134185, + 0.7682158350944519 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0021078956727998976, + 0.02087006933828861 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 74, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d1c273d0b76793c3362892d78100fb490315d84b5e87b4c8cf74ef59846d11bb", + "visual_seed": 3756520080672735132, + "episode_index": 74, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_75_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_75_success.json new file mode 100644 index 0000000000000000000000000000000000000000..23f3f956fe350366ae78cf36d474dfafe4c1f594 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_75_success.json @@ -0,0 +1,700 @@ +{ + "episode": 75, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.31092165604309663, + -0.11993968149265934, + 1.165038129684962 + ], + "current_z": 1.165038129684962, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.30393162167019594, + "gripper_z": 1.1560954430035992, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.306818292601088, + -0.12422762854278804, + 1.1560954430035992 + ], + "object_minus_gripper": [ + 0.004103363442008623, + 0.004287947050128707, + 0.008942686681362666 + ], + "object_to_gripper_xy": 0.00593498790579394, + "object_to_gripper_z": 0.008942686681362666, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.31092165604309663, + -0.14344231416965203, + 1.165038129684962 + ], + "finger_b": [ + 0.30089318273819965, + -0.11993968149265934, + 1.165038129684962 + ], + "finger_midpoint": [ + 0.30590741939064814, + -0.13169099783115568, + 1.165038129684962 + ], + "object_minus_finger_midpoint": [ + 0.005014236652448489, + 0.01175131633849634, + 0.0 + ], + "finger_gap": 0.025552769313259883, + "fingertip_max_gap": 0.09262096872151712, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012776384656629936, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.165038129684962, + "object_top_z": 1.215083102253398, + "finger_top_clearance": 0.05004497256843621, + "fingertip_min_top_clearance": 0.015013491770530895, + "object_projection_between_fingers": 0.8459741205804533, + "object_to_finger_line_xy": 0.00922387399606479, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04881048436075856, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9218679936429393, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 347, + "max_stable_success_frames": 347, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.28735133322234396, + -0.4118646835357168, + 0.8515395545377817 + ], + "target_position": [ + 0.28107223068842974, + -0.41268278987733853, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006332173925091582, + "xy_threshold": 0.08, + "gripper_dist": 0.18275633823943524, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395545377817, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07544964258505725, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08823692268292165, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15106205101880402, + "release_required_pad_clearance": 0.054118461341460825, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.2509201022149408, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00890660285949707, + "max_z_decrease": 0.00890660285949707, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035047289400775915, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00890660285949707, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.02098585101613926, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 122, + "max_z_decrease_with_contact_point": 0.00890660285949707, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008906959541459437, + "max_button_displacement": 0.12, + "button_start": [ + 0.13677215576171872, + -0.46894425153732294, + 0.7768088579177856 + ], + "button_final": [ + 0.13677215576171872, + -0.46894425153732294, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13826808179623465, + -0.46969041569983117, + 0.8032807908627699 + ], + "closest_button": [ + 0.13673077523708344, + -0.46889218688011164, + 0.7682763338088989 + ], + "closest_ee_minus_button": [ + 0.0015373065591512136, + -0.0007982288197195264, + 0.03500445705387101 + ], + "button_min_z_position": [ + 0.13671766221523285, + -0.46888607740402216, + 0.7679022550582886 + ], + "min_active_finger_to_button": 0.1442254823930988, + "closest_active_finger": [ + -0.0023900046944618225, + -0.45289376378059387, + 0.8110033869743347 + ], + "closest_active_finger_button": [ + 0.13677473366260526, + -0.46894100308418263, + 0.776701033115387 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13916473835706708, + 0.016047239303588756, + 0.034302353858947754 + ], + "min_contact_pad_to_button": 0.02098585101613926, + "closest_contact_pad": [ + 0.13671766221523285, + -0.4709324212346331, + 0.7887880976268448 + ], + "closest_contact_pad_button": [ + 0.13671766221523285, + -0.46888607740402216, + 0.7679022550582886 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0020463438306109194, + 0.02088584256855619 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 75, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3c1796be2b89106a572e6e9dc9e315b1d5177118e90fd3d2e0055ea7ed0727a3", + "visual_seed": 6779445038859861970, + "episode_index": 75, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_76_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_76_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3ede5f9ae93a9510b9d9c8573985b6c7e59e699f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_76_success.json @@ -0,0 +1,700 @@ +{ + "episode": 76, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3057075288874325, + -0.11819173835919383, + 1.1649123869208995 + ], + "current_z": 1.1649123869208995, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.30380587890613353, + "gripper_z": 1.15609398141239, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.30152699999422977, + -0.12260040869821495, + 1.15609398141239 + ], + "object_minus_gripper": [ + 0.004180528893202751, + 0.00440867033902112, + 0.00881840550850943 + ], + "object_to_gripper_xy": 0.00607562309438856, + "object_to_gripper_z": 0.00881840550850943, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3057075288874325, + -0.1416644222367861, + 1.1649123869208995 + ], + "finger_b": [ + 0.2954155689599154, + -0.11819173835919383, + 1.1649123869208995 + ], + "finger_midpoint": [ + 0.3005615489236739, + -0.12992808029798997, + 1.1649123869208995 + ], + "object_minus_finger_midpoint": [ + 0.005145979963758596, + 0.011736341938796135, + 0.0 + ], + "finger_gap": 0.025629891290580978, + "fingertip_max_gap": 0.09232293595660604, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012814945645290501, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1649123869208995, + "object_top_z": 1.2150041743276034, + "finger_top_clearance": 0.05009178740670395, + "fingertip_min_top_clearance": 0.015027536222011216, + "object_projection_between_fingers": 0.8387489152247715, + "object_to_finger_line_xy": 0.009425709969680543, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04866146797830302, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6409237279154991, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 345, + "max_stable_success_frames": 345, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.28287071952703025, + -0.40513025290870674, + 0.8515395876095777 + ], + "target_position": [ + 0.2756887768332935, + -0.40640207093890246, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007293683702906874, + "xy_threshold": 0.08, + "gripper_dist": 0.18530030563886266, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395876095777, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07573302408172601, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08714868197621338, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15284759103729365, + "release_required_pad_clearance": 0.05357434098810669, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.159480841083388, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008784770965576172, + "max_z_decrease": 0.008784770965576172, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03498842914140583, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008784770965576172, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020924278911582966, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008784770965576172, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00878504791213022, + "max_button_displacement": 0.12, + "button_start": [ + 0.13138870894908905, + -0.4626635313034057, + 0.7768088579177856 + ], + "button_final": [ + 0.13138870894908905, + -0.4626635313034057, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13073678797709176, + -0.4629682159363202, + 0.8036460477748615 + ], + "closest_button": [ + 0.13142044842243195, + -0.46263873577117914, + 0.7686658501625061 + ], + "closest_ee_minus_button": [ + -0.000683660445340184, + -0.0003294801651410606, + 0.03498019761235538 + ], + "button_min_z_position": [ + 0.13144272565841675, + -0.4626193940639496, + 0.7680240869522095 + ], + "min_active_finger_to_button": 0.1465049200600317, + "closest_active_finger": [ + -0.010333135724067688, + -0.44884300231933594, + 0.8111411333084106 + ], + "closest_active_finger_button": [ + 0.13139203190803528, + -0.46266052126884455, + 0.7766919732093811 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14172516763210297, + 0.013817518949508611, + 0.03444916009902954 + ], + "min_contact_pad_to_button": 0.020924278911582966, + "closest_contact_pad": [ + 0.13144272565841675, + -0.4639647156972447, + 0.7889050725054036 + ], + "closest_contact_pad_button": [ + 0.13144272565841675, + -0.4626193940639496, + 0.7680240869522095 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0013453216332950935, + 0.020880985553194176 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 76, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b94b72c7f72ddcbde10529923aa73cf56ef98ac74a0f0dd1fd17bea3028f3b12", + "visual_seed": 3124011332214994387, + "episode_index": 76, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_77_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_77_success.json new file mode 100644 index 0000000000000000000000000000000000000000..26c2b840d803869ec54d65b120f0e8f2fc44fe83 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_77_success.json @@ -0,0 +1,700 @@ +{ + "episode": 77, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3104323224702039, + -0.12039425420419196, + 1.1635968464421604 + ], + "current_z": 1.1635968464421604, + "required_z": 0.8611066272240555, + "initial_z": 0.7611066272240555, + "lift_margin": 0.3024902192181049, + "gripper_z": 1.154665174461978, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.30627756832764924, + -0.12473096155304021, + 1.154665174461978 + ], + "object_minus_gripper": [ + 0.004154754142554673, + 0.004336707348848251, + 0.00893167198018241 + ], + "object_to_gripper_xy": 0.006005748297641989, + "object_to_gripper_z": 0.00893167198018241, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3104323224702039, + -0.1438817463036272, + 1.1635968464421604 + ], + "finger_b": [ + 0.30027320091858745, + -0.12039425420419196, + 1.1635968464421604 + ], + "finger_midpoint": [ + 0.3053527616943957, + -0.1321380002539096, + 1.1635968464421604 + ], + "object_minus_finger_midpoint": [ + 0.005079560775808234, + 0.011743746049717632, + 0.0 + ], + "finger_gap": 0.025590428597847898, + "fingertip_max_gap": 0.09225841779374774, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012795214298923954, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1635968464421604, + "object_top_z": 1.2136320595038574, + "finger_top_clearance": 0.050035213061697004, + "fingertip_min_top_clearance": 0.015010563918509134, + "object_projection_between_fingers": 0.842399644120163, + "object_to_finger_line_xy": 0.00932427865631218, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048629208896873874, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6990852469624413, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 344, + "max_stable_success_frames": 344, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2908502113873686, + -0.4099965694404848, + 0.8515395610182918 + ], + "target_position": [ + 0.28398295811709073, + -0.41111723933155364, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0069580937391566094, + "xy_threshold": 0.08, + "gripper_dist": 0.18394209043304435, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395610182918, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07557291637235869, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08751426999954175, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15184023081142908, + "release_required_pad_clearance": 0.053757134999770875, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.5235210152274345, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008665204048156738, + "max_z_decrease": 0.008665204048156738, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504121435479356, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008665204048156738, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020972510998319982, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008665204048156738, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008665378125496967, + "max_button_displacement": 0.12, + "button_start": [ + 0.13968288898468012, + -0.46737870573997486, + 0.7768088579177856 + ], + "button_final": [ + 0.13968288898468012, + -0.46737870573997486, + 0.7768088579177856 + ], + "closest_ee": [ + 0.14124293144205452, + -0.4682777355369923, + 0.8035432892051669 + ], + "closest_button": [ + 0.13971836864948264, + -0.46734386682510365, + 0.7685477137565613 + ], + "closest_ee_minus_button": [ + 0.0015245627925718763, + -0.0009338687118886635, + 0.034995575448605654 + ], + "button_min_z_position": [ + 0.13971315324306482, + -0.46733286976814264, + 0.7681436538696289 + ], + "min_active_finger_to_button": 0.14420534831464896, + "closest_active_finger": [ + 0.0004727467894554138, + -0.4519062340259552, + 0.8109155893325806 + ], + "closest_active_finger_button": [ + 0.1396834105253219, + -0.46737655997276295, + 0.7766191959381104 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1392106637358665, + 0.01547032594680775, + 0.034296393394470215 + ], + "min_contact_pad_to_button": 0.020972510998319982, + "closest_contact_pad": [ + 0.13971315324306482, + -0.4695167124098932, + 0.7890021545082349 + ], + "closest_contact_pad_button": [ + 0.13971315324306482, + -0.46733286976814264, + 0.7681436538696289 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002183842641750533, + 0.020858500638605948 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 77, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "20c346013cbd3b16167a21031bfdea442efb7798628e7002cf35dcae153da36c", + "visual_seed": 256943981314615404, + "episode_index": 77, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_78_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_78_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c6c1fe27a67b636b733975273c9c79241f31e074 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_78_success.json @@ -0,0 +1,700 @@ +{ + "episode": 78, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30795973590225323, + -0.12556734546293505, + 1.16613389903134 + ], + "current_z": 1.16613389903134, + "required_z": 0.861106567619411, + "initial_z": 0.761106567619411, + "lift_margin": 0.30502733141192895, + "gripper_z": 1.1571335540062164, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.30378674599455113, + -0.12991246807882223, + 1.1571335540062164 + ], + "object_minus_gripper": [ + 0.004172989907702096, + 0.004345122615887181, + 0.00900034502512348 + ], + "object_to_gripper_xy": 0.006024444813995544, + "object_to_gripper_z": 0.00900034502512348, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30795973590225323, + -0.14916568745776435, + 1.16613389903134 + ], + "finger_b": [ + 0.2979522389361833, + -0.12556734546293505, + 1.16613389903134 + ], + "finger_midpoint": [ + 0.30295598741921825, + -0.1373665164603497, + 1.16613389903134 + ], + "object_minus_finger_midpoint": [ + 0.0050037484830349754, + 0.011799170997414649, + 0.0 + ], + "finger_gap": 0.025632630384547415, + "fingertip_max_gap": 0.0922413680504369, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012816315192273707, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.16613389903134, + "object_top_z": 1.2162969951472717, + "finger_top_clearance": 0.05016309611593184, + "fingertip_min_top_clearance": 0.01504892883477955, + "object_projection_between_fingers": 0.8475720587558984, + "object_to_finger_line_xy": 0.009213269663495156, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04862068402521845, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.544104858520937, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 339, + "max_stable_success_frames": 339, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2883883134455354, + -0.4090126245653142, + 0.8515395694530957 + ], + "target_position": [ + 0.2819910225998915, + -0.4097740116146182, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006442440562597917, + "xy_threshold": 0.08, + "gripper_dist": 0.18309744222773963, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395694530957, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07517690563617266, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08496532125352317, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1518810805651066, + "release_required_pad_clearance": 0.05248266062676159, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.03956468146012111, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008853912353515625, + "max_z_decrease": 0.008853912353515625, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503383767825526, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008853912353515625, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020907490413023314, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 122, + "max_z_decrease_with_contact_point": 0.008853912353515625, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00885406855964349, + "max_button_displacement": 0.12, + "button_start": [ + 0.13769094645977015, + -0.4660354554653167, + 0.7768088579177856 + ], + "button_final": [ + 0.13769094645977015, + -0.4660354554653167, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13907264375781636, + -0.4657854411776201, + 0.8033328342570678 + ], + "closest_button": [ + 0.1376664340496063, + -0.4659908413887024, + 0.7683278322219849 + ], + "closest_ee_minus_button": [ + 0.0014062097082100655, + 0.000205400211082285, + 0.035005002035082944 + ], + "button_min_z_position": [ + 0.13766071200370786, + -0.4659924209117889, + 0.76795494556427 + ], + "min_active_finger_to_button": 0.14447828894051626, + "closest_active_finger": [ + -0.0018294379115104675, + -0.45095354318618774, + 0.8111586570739746 + ], + "closest_active_finger_button": [ + 0.13769122958183283, + -0.46603426337242126, + 0.7767997980117798 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1395206674933433, + 0.01508072018623352, + 0.034358859062194824 + ], + "min_contact_pad_to_button": 0.020907490413023314, + "closest_contact_pad": [ + 0.13766071200370786, + -0.466854438828311, + 0.7888446578763689 + ], + "closest_contact_pad_button": [ + 0.13766071200370786, + -0.4659924209117889, + 0.76795494556427 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0008620179165221287, + 0.020889712312098907 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 78, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "699ea2f4b3ddb7178cb5a6eb4e38968cf09785f17f743c7931a2144fd462e54a", + "visual_seed": 7753502446884174126, + "episode_index": 78, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_79_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_79_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c5ddecfd00699ed0bd0110c117dbb27b5f2955f2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_79_success.json @@ -0,0 +1,700 @@ +{ + "episode": 79, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3016298372789344, + -0.1177706178324294, + 1.1641510115110874 + ], + "current_z": 1.1641510115110874, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.30304456310096606, + "gripper_z": 1.1554361344840438, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29748465936878976, + -0.12216203299822682, + 1.1554361344840438 + ], + "object_minus_gripper": [ + 0.004145177910144626, + 0.004391415165797427, + 0.008714877027043544 + ], + "object_to_gripper_xy": 0.006038793510722702, + "object_to_gripper_z": 0.008714877027043544, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3016298372789344, + -0.14126584058197553, + 1.1641510115110874 + ], + "finger_b": [ + 0.2914368575068709, + -0.1177706178324294, + 1.1641510115110874 + ], + "finger_midpoint": [ + 0.29653334739290266, + -0.12951822920720246, + 1.1641510115110874 + ], + "object_minus_finger_midpoint": [ + 0.00509648988603173, + 0.011747611374773065, + 0.0 + ], + "finger_gap": 0.025610980627154535, + "fingertip_max_gap": 0.09253678546754227, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012805490313577268, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1641510115110874, + "object_top_z": 1.2143029205943747, + "finger_top_clearance": 0.05015190908328737, + "fingertip_min_top_clearance": 0.01504557272498621, + "object_projection_between_fingers": 0.8416019213096924, + "object_to_finger_line_xy": 0.009350923875688264, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048768392733771135, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.693812929327117, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 343, + "max_stable_success_frames": 343, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.28288711930529165, + -0.4110196436923159, + 0.8515395565247246 + ], + "target_position": [ + 0.2762423138226995, + -0.4121921096053612, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006747452572544689, + "xy_threshold": 0.08, + "gripper_dist": 0.1848111205786255, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395565247246, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07570344736904246, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08734070023570502, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15237969487006942, + "release_required_pad_clearance": 0.05367035011785251, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.3503964364679204, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008697092533111572, + "max_z_decrease": 0.008697092533111572, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034994473425411336, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008697092533111572, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020874788037557507, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008697092533111572, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008697317546397436, + "max_button_displacement": 0.12, + "button_start": [ + 0.13194224238395685, + -0.4684535562992096, + 0.7768088579177856 + ], + "button_final": [ + 0.13194224238395685, + -0.4684535562992096, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1318900874753806, + -0.46778850136285877, + 0.8031005208473478 + ], + "closest_button": [ + 0.13199000060558316, + -0.4684131443500519, + 0.7681117653846741 + ], + "closest_ee_minus_button": [ + -9.991313020255022e-05, + 0.0006246429871931136, + 0.03498875546267377 + ], + "button_min_z_position": [ + 0.13199000060558316, + -0.4684131443500519, + 0.7681117653846741 + ], + "min_active_finger_to_button": 0.14562657964801293, + "closest_active_finger": [ + 0.004399560391902924, + -0.5298196077346802, + 0.8105817437171936 + ], + "closest_active_finger_button": [ + 0.13194255530834198, + -0.46845126152038574, + 0.7763208150863647 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12754299491643906, + -0.061368346214294434, + 0.03426092863082886 + ], + "min_contact_pad_to_button": 0.020874788037557507, + "closest_contact_pad": [ + 0.13199000060558316, + -0.4690709921423193, + 0.7889761851440434 + ], + "closest_contact_pad_button": [ + 0.13199000060558316, + -0.4684131443500519, + 0.7681117653846741 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0006578477922674075, + 0.020864419759369368 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 79, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "805f284eab0d8d81dbd1e7f549de5a977c4399f302de3516ccd035f1a3e59158", + "visual_seed": 6229143835323929584, + "episode_index": 79, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_7_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_7_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2d05e865af2a067ea03bbb0c07c730cd43f69cbe --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_7_success.json @@ -0,0 +1,700 @@ +{ + "episode": 7, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3116909665734606, + -0.11594577293637397, + 1.167283180921558 + ], + "current_z": 1.167283180921558, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 0.3061766133021472, + "gripper_z": 1.1583952164341498, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3072614957202138, + -0.12048053054034676, + 1.1583952164341498 + ], + "object_minus_gripper": [ + 0.004429470853246853, + 0.004534757603972789, + 0.00888796448740825 + ], + "object_to_gripper_xy": 0.006339103924574232, + "object_to_gripper_z": 0.00888796448740825, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3116909665734606, + -0.13966724364148136, + 1.167283180921558 + ], + "finger_b": [ + 0.301269064108252, + -0.11594577293637397, + 1.167283180921558 + ], + "finger_midpoint": [ + 0.30648001534085634, + -0.12780650828892767, + 1.167283180921558 + ], + "object_minus_finger_midpoint": [ + 0.005210951232604288, + 0.011860735352553706, + 0.0 + ], + "finger_gap": 0.025909925191084406, + "fingertip_max_gap": 0.09157419420977533, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012954962595542198, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.167283180921558, + "object_top_z": 1.2172235033722958, + "finger_top_clearance": 0.04994032245073776, + "fingertip_min_top_clearance": 0.014982096735221329, + "object_projection_between_fingers": 0.8382062687340626, + "object_to_finger_line_xy": 0.009541627472741683, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04828709710488767, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0554448648219272, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 353, + "max_stable_success_frames": 353, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2859400854173531, + -0.4114524107801526, + 0.8515395144024502 + ], + "target_position": [ + 0.27874915756646834, + -0.41268565115855527, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007295911539180896, + "xy_threshold": 0.08, + "gripper_dist": 0.18532190171155674, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395144024502, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07514317814801637, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08504153912469735, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15435776240883042, + "release_required_pad_clearance": 0.052520769562348676, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.11190572310514503, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00882941484451294, + "max_z_decrease": 0.00882941484451294, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03509406157005979, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00882941484451294, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.021093276229490823, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 122, + "max_z_decrease_with_contact_point": 0.00882941484451294, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008829622206465819, + "max_button_displacement": 0.12, + "button_start": [ + 0.1344490796327591, + -0.46894711256027216, + 0.7768088579177856 + ], + "button_final": [ + 0.1344490796327591, + -0.46894711256027216, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13223740383778165, + -0.47095502739166817, + 0.8035917690086672 + ], + "closest_button": [ + 0.13447496294975275, + -0.4689146578311919, + 0.7686285972595215 + ], + "closest_ee_minus_button": [ + -0.002237559111971099, + -0.002040369560476263, + 0.03496317174914576 + ], + "button_min_z_position": [ + 0.1344916820526123, + -0.4689041376113891, + 0.7679794430732727 + ], + "min_active_finger_to_button": 0.14785924226700903, + "closest_active_finger": [ + -0.008818797767162323, + -0.45660513639450073, + 0.810688853263855 + ], + "closest_active_finger_button": [ + 0.13444976508617398, + -0.4689455926418304, + 0.7762768268585205 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1432685628533363, + 0.012340456247329656, + 0.03441202640533447 + ], + "min_contact_pad_to_button": 0.021093276229490823, + "closest_contact_pad": [ + 0.1344916820526123, + -0.4720239772541121, + 0.7888407206635186 + ], + "closest_contact_pad_button": [ + 0.1344916820526123, + -0.4689041376113891, + 0.7679794430732727 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.003119839642722999, + 0.02086127759024592 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 7, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "cdc6f13d66bc31472c38eec638ce83b214eb6d3e7db8ed51a2f542da9d0cf231", + "visual_seed": 7377193152259722925, + "episode_index": 7, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_80_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_80_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c3101b497300f2de6aeba5299986de3986516260 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_80_success.json @@ -0,0 +1,700 @@ +{ + "episode": 80, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3032218736258875, + -0.12298858806333783, + 1.1641842073559099 + ], + "current_z": 1.1641842073559099, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.3030777589457886, + "gripper_z": 1.1553428285502925, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2989983247800886, + -0.12734636172975716, + 1.1553428285502925 + ], + "object_minus_gripper": [ + 0.004223548845798897, + 0.004357773666419332, + 0.008841378805617417 + ], + "object_to_gripper_xy": 0.006068653572299788, + "object_to_gripper_z": 0.008841378805617417, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3032218736258875, + -0.14658854072939795, + 1.1641842073559099 + ], + "finger_b": [ + 0.29313832405094975, + -0.12298858806333783, + 1.1641842073559099 + ], + "finger_midpoint": [ + 0.2981800988384186, + -0.13478856439636788, + 1.1641842073559099 + ], + "object_minus_finger_midpoint": [ + 0.005041774787468867, + 0.011799976333030052, + 0.0 + ], + "finger_gap": 0.025663899506320254, + "fingertip_max_gap": 0.09233955574492228, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012831949753160122, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1641842073559099, + "object_top_z": 1.2142987341932825, + "finger_top_clearance": 0.05011452683737261, + "fingertip_min_top_clearance": 0.015034358051211782, + "object_projection_between_fingers": 0.8456233602522522, + "object_to_finger_line_xy": 0.00927260849879014, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04866977787246114, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5464993657936958, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 344, + "max_stable_success_frames": 344, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2907086958913405, + -0.40675802327117094, + 0.8515395842221265 + ], + "target_position": [ + 0.2843890125889329, + -0.40763928754912665, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006380832529563087, + "xy_threshold": 0.08, + "gripper_dist": 0.18387773261137647, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395842221265, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07545472538682017, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08675321378290417, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15214015725512903, + "release_required_pad_clearance": 0.053376606891452086, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.7689615252082134, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008703649044036865, + "max_z_decrease": 0.008703649044036865, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502274389390933, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008703649044036865, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.02086019013995488, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008703649044036865, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008703714904008262, + "max_button_displacement": 0.12, + "button_start": [ + 0.14008894562721252, + -0.46390074491500843, + 0.7768088579177856 + ], + "button_final": [ + 0.14008894562721252, + -0.46390074491500843, + 0.7768088579177856 + ], + "closest_ee": [ + 0.140439241121347, + -0.4626173144352598, + 0.8034735515599717 + ], + "closest_button": [ + 0.1400909572839737, + -0.4638545215129852, + 0.7684744000434875 + ], + "closest_ee_minus_button": [ + 0.00034828383737331436, + 0.0012372070777253996, + 0.03499915151648414 + ], + "button_min_z_position": [ + 0.14008687436580658, + -0.46386694908142084, + 0.7681052088737488 + ], + "min_active_finger_to_button": 0.1450060600234776, + "closest_active_finger": [ + 0.013533644378185272, + -0.5258622765541077, + 0.8105733394622803 + ], + "closest_active_finger_button": [ + 0.140088751912117, + -0.4638992846012115, + 0.776351273059845 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12655510753393173, + -0.061962991952896174, + 0.0342220664024353 + ], + "min_contact_pad_to_button": 0.02086019013995488, + "closest_contact_pad": [ + 0.14008687436580658, + -0.46386694908142084, + 0.7889653990137037 + ], + "closest_contact_pad_button": [ + 0.14008687436580658, + -0.46386694908142084, + 0.7681052088737488 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02086019013995488 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 80, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "54bbaff5c18a4e3a729420a98f041b13776131137049e3dce1aa1a2281ebccaa", + "visual_seed": 5176974679783818247, + "episode_index": 80, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_81_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_81_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9aeef9e770f94de5cf1214efb5ab125b48ac70a8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_81_success.json @@ -0,0 +1,700 @@ +{ + "episode": 81, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30442269427795965, + -0.12203334461486837, + 1.1636230194674355 + ], + "current_z": 1.1636230194674355, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.30251651145266945, + "gripper_z": 1.1547920818872817, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.30024448030447703, + -0.12632631110909837, + 1.1547920818872817 + ], + "object_minus_gripper": [ + 0.004178213973482614, + 0.004292966494229999, + 0.008830937580153853 + ], + "object_to_gripper_xy": 0.005990578714013095, + "object_to_gripper_z": 0.008830937580153853, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30442269427795965, + -0.14563967525271615, + 1.1636230194674355 + ], + "finger_b": [ + 0.2944770807306452, + -0.12203334461486837, + 1.1636230194674355 + ], + "finger_midpoint": [ + 0.29944988750430246, + -0.13383650993379226, + 1.1636230194674355 + ], + "object_minus_finger_midpoint": [ + 0.00497280677365719, + 0.011803165318923892, + 0.0 + ], + "finger_gap": 0.025615894968084082, + "fingertip_max_gap": 0.09263358286649412, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01280794748404203, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1636230194674355, + "object_top_z": 1.2136884083468544, + "finger_top_clearance": 0.050065388879418915, + "fingertip_min_top_clearance": 0.015019616663825707, + "object_projection_between_fingers": 0.8492545917329556, + "object_to_finger_line_xy": 0.00916538118565382, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04881679143324706, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9485789195007337, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 343, + "max_stable_success_frames": 343, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2900684672006074, + -0.4057904249583024, + 0.8515395718271574 + ], + "target_position": [ + 0.2835584687085592, + -0.4069233685994554, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006607846976171491, + "xy_threshold": 0.08, + "gripper_dist": 0.1856546284211816, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395718271574, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07577863777732342, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08791010146276083, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15305174875137145, + "release_required_pad_clearance": 0.05395505073138042, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.920638709573808, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008835792541503906, + "max_z_decrease": 0.008835792541503906, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035071956313219174, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008835792541503906, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.021025301723109683, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 122, + "max_z_decrease_with_contact_point": 0.008835792541503906, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008835986551306546, + "max_button_displacement": 0.12, + "button_start": [ + 0.13925839960575104, + -0.46318483352661133, + 0.7768088579177856 + ], + "button_final": [ + 0.13925839960575104, + -0.46318483352661133, + 0.7768088579177856 + ], + "closest_ee": [ + 0.14098963149109145, + -0.4643975039267657, + 0.8033515641470145 + ], + "closest_button": [ + 0.1392318457365036, + -0.463142067193985, + 0.7683461904525757 + ], + "closest_ee_minus_button": [ + 0.0017577857545878484, + -0.0012554367327807237, + 0.03500537369443879 + ], + "button_min_z_position": [ + 0.13922379910945892, + -0.46313759684562683, + 0.7679730653762817 + ], + "min_active_finger_to_button": 0.14394250821969512, + "closest_active_finger": [ + 0.00032921135425567627, + -0.44759082794189453, + 0.8110211491584778 + ], + "closest_active_finger_button": [ + 0.13926061987876892, + -0.4631817638874054, + 0.7767511606216431 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13893140852451324, + 0.015590935945510864, + 0.03426998853683472 + ], + "min_contact_pad_to_button": 0.021025301723109683, + "closest_contact_pad": [ + 0.13922379910945892, + -0.4656381660356677, + 0.7888491393911347 + ], + "closest_contact_pad_button": [ + 0.13922379910945892, + -0.46313759684562683, + 0.7679730653762817 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00250056919004088, + 0.02087607401485292 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 81, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d34685dc1e641fe7e776fb88859d7f45e96556cab486c2ac4e4b49110e915d16", + "visual_seed": 5483860191436670439, + "episode_index": 81, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_82_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_82_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6e973aa8705fd01865e20c13d87c3f10df353299 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_82_success.json @@ -0,0 +1,700 @@ +{ + "episode": 82, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3037542384494423, + -0.11893563613166362, + 1.1661712195647107 + ], + "current_z": 1.1661712195647107, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.3050648307592343, + "gripper_z": 1.1573614670467964, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29939487522688324, + -0.12344566285238494, + 1.1573614670467964 + ], + "object_minus_gripper": [ + 0.004359363222559087, + 0.004510026720721316, + 0.008809752517914271 + ], + "object_to_gripper_xy": 0.00627251056020004, + "object_to_gripper_z": 0.008809752517914271, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3037542384494423, + -0.14257377464259852, + 1.1661712195647107 + ], + "finger_b": [ + 0.2933636914164544, + -0.11893563613166362, + 1.1661712195647107 + ], + "finger_midpoint": [ + 0.29855896493294837, + -0.13075470538713108, + 1.1661712195647107 + ], + "object_minus_finger_midpoint": [ + 0.005195273516493959, + 0.011819069255467454, + 0.0 + ], + "finger_gap": 0.02582101973019031, + "fingertip_max_gap": 0.091820110926049, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012910509865095163, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1661712195647107, + "object_top_z": 1.2162428132849392, + "finger_top_clearance": 0.05007159372022851, + "fingertip_min_top_clearance": 0.015021478116068587, + "object_projection_between_fingers": 0.8380689820481422, + "object_to_finger_line_xy": 0.009512141369187592, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0484100554630245, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0902431475885845, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 348, + "max_stable_success_frames": 348, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.288414189827559, + -0.40455408105307367, + 0.8515396006175453 + ], + "target_position": [ + 0.2810935203416572, + -0.4058577393608608, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007435840685845575, + "xy_threshold": 0.08, + "gripper_dist": 0.1863395788876983, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396006175453, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07519675048822008, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08534864647686712, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15515459404614185, + "release_required_pad_clearance": 0.05267432323843356, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.405417551215329, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008483290672302246, + "max_z_decrease": 0.008483290672302246, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035038889227754305, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008483290672302246, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020819299895214978, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008483290672302246, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008483400990979568, + "max_button_displacement": 0.12, + "button_start": [ + 0.1367934495210647, + -0.4621191918849945, + 0.7768088579177856 + ], + "button_final": [ + 0.1367934495210647, + -0.4621191918849945, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13494456302762753, + -0.4611014609141855, + 0.8033630858703236 + ], + "closest_button": [ + 0.13683505356311793, + -0.462103396654129, + 0.7683895826339722 + ], + "closest_ee_minus_button": [ + -0.0018904905354903967, + 0.0010019357399434492, + 0.0349735032363514 + ], + "button_min_z_position": [ + 0.13683354854583737, + -0.4621029496192932, + 0.7683255672454834 + ], + "min_active_finger_to_button": 0.14708863054447138, + "closest_active_finger": [ + 0.007391542196273804, + -0.523094892501831, + 0.8107433319091797 + ], + "closest_active_finger_button": [ + 0.1367939114570617, + -0.4621197581291198, + 0.7765070199966431 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1294023692607879, + -0.06097513437271124, + 0.03423631191253662 + ], + "min_contact_pad_to_button": 0.020819299895214978, + "closest_contact_pad": [ + 0.13683354854583737, + -0.46237024500570967, + 0.7891431511903916 + ], + "closest_contact_pad_button": [ + 0.13683354854583737, + -0.4621029496192932, + 0.7683255672454834 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0002672953864164551, + 0.02081758394490818 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 82, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "40343acf7d8b4e6b89f4158fee39f2af91ba138b0eff601ea025012991ea4136", + "visual_seed": 6874657295055298337, + "episode_index": 82, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_83_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_83_success.json new file mode 100644 index 0000000000000000000000000000000000000000..cd08a3755fd64e22f8d1dcfbae52c38fddcae80c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_83_success.json @@ -0,0 +1,700 @@ +{ + "episode": 83, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30829323846225165, + -0.12136875443889862, + 1.1669572710780587 + ], + "current_z": 1.1669572710780587, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.30585076306329284, + "gripper_z": 1.1580452428816788, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.30410814076433906, + -0.12579350928014846, + 1.1580452428816788 + ], + "object_minus_gripper": [ + 0.004185097697912588, + 0.004424754841249837, + 0.008912028196379929 + ], + "object_to_gripper_xy": 0.006090443181430815, + "object_to_gripper_z": 0.008912028196379929, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30829323846225165, + -0.144884656592964, + 1.1669572710780587 + ], + "finger_b": [ + 0.29801639464056, + -0.12136875443889862, + 1.1669572710780587 + ], + "finger_midpoint": [ + 0.30315481655140586, + -0.1331267055159313, + 1.1669572710780587 + ], + "object_minus_finger_midpoint": [ + 0.005138421910845792, + 0.011757951077032688, + 0.0 + ], + "finger_gap": 0.025663420914894004, + "fingertip_max_gap": 0.09204407486169544, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012831710457446983, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1669572710780587, + "object_top_z": 1.2170142110612234, + "finger_top_clearance": 0.05005693998316474, + "fingertip_min_top_clearance": 0.015017081994949454, + "object_projection_between_fingers": 0.8396420782757978, + "object_to_finger_line_xy": 0.0094168760495705, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04852203743084772, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3265951650384127, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 350, + "max_stable_success_frames": 350, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2837324430454472, + -0.4047133217030217, + 0.8515395826238847 + ], + "target_position": [ + 0.27680412652966463, + -0.4059166554020008, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007032039656740014, + "xy_threshold": 0.08, + "gripper_dist": 0.18515607393492803, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395826238847, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754735038960333, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08687106630649859, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1531721378291055, + "release_required_pad_clearance": 0.053435533153249296, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.8850614120453104, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008383393287658691, + "max_z_decrease": 0.008383393287658691, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035020169860856126, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008383393287658691, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.020854784266524207, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008383393287658691, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008383580061966198, + "max_button_displacement": 0.12, + "button_start": [ + 0.1325040459632873, + -0.46217811107635487, + 0.7768088579177856 + ], + "button_final": [ + 0.1325040459632873, + -0.46217811107635487, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13240141059698912, + -0.4607191984961646, + 0.8035578307876771 + ], + "closest_button": [ + 0.13254801928997034, + -0.4621498882770537, + 0.7685672044754028 + ], + "closest_ee_minus_button": [ + -0.00014660869298122048, + 0.0014306897808891161, + 0.03499062631227423 + ], + "button_min_z_position": [ + 0.13255208730697626, + -0.4621494114398955, + 0.768425464630127 + ], + "min_active_finger_to_button": 0.14534932771217765, + "closest_active_finger": [ + 0.004599854350090027, + -0.5221337676048279, + 0.8108556270599365 + ], + "closest_active_finger_button": [ + 0.1325047463178634, + -0.46217623353004444, + 0.7766231894493103 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12790489196777338, + -0.059957534074783436, + 0.03423243761062622 + ], + "min_contact_pad_to_button": 0.020854784266524207, + "closest_contact_pad": [ + 0.13255208730697626, + -0.4621494114398955, + 0.7892802488966512 + ], + "closest_contact_pad_button": [ + 0.13255208730697626, + -0.4621494114398955, + 0.768425464630127 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020854784266524207 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 83, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "28510b74084b43da0c06f5dd2b4151dd28382b7bebb895dafa73d7d674daa365", + "visual_seed": 1912806827166062746, + "episode_index": 83, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_84_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_84_success.json new file mode 100644 index 0000000000000000000000000000000000000000..dba0cb7915fb83b17315c25ec8f13d4c3d4e356a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_84_success.json @@ -0,0 +1,700 @@ +{ + "episode": 84, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3039929372893724, + -0.12473536855327859, + 1.1644959973172706 + ], + "current_z": 1.1644959973172706, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 0.30338942969785976, + "gripper_z": 1.1555306606696705, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2998892461244017, + -0.1289969732361916, + 1.1555306606696705 + ], + "object_minus_gripper": [ + 0.004103691164970669, + 0.00426160468291302, + 0.00896533664760013 + ], + "object_to_gripper_xy": 0.0059162112581351, + "object_to_gripper_z": 0.00896533664760013, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3039929372893724, + -0.14831604204635618, + 1.1644959973172706 + ], + "finger_b": [ + 0.29413811864667716, + -0.12473536855327859, + 1.1644959973172706 + ], + "finger_midpoint": [ + 0.29906552796802477, + -0.1365257052998174, + 1.1644959973172706 + ], + "object_minus_finger_midpoint": [ + 0.004927409321347609, + 0.011790336746538801, + 0.0 + ], + "finger_gap": 0.025557104939087784, + "fingertip_max_gap": 0.09246012577192245, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012778552469543899, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1644959973172706, + "object_top_z": 1.2146327864404234, + "finger_top_clearance": 0.05013678912315278, + "fingertip_min_top_clearance": 0.0150410367369458, + "object_projection_between_fingers": 0.8513126708339014, + "object_to_finger_line_xy": 0.009092706756134826, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048730062885961226, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.736090941248277, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 343, + "max_stable_success_frames": 343, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.28715328884369506, + -0.40580874800586775, + 0.851539585648932 + ], + "target_position": [ + 0.2806423093060232, + -0.40664801819703206, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006564847979485808, + "xy_threshold": 0.08, + "gripper_dist": 0.18624036321297463, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539585648932, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07513986637160001, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08556609874726494, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15515082662830418, + "release_required_pad_clearance": 0.05278304937363247, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6142097665813405, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008623659610748291, + "max_z_decrease": 0.008623659610748291, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499565383760805, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008623659610748291, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02087508556567435, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008623659610748291, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008623846235071883, + "max_button_displacement": 0.12, + "button_start": [ + 0.13634224236011505, + -0.46290948987007136, + 0.7768088579177856 + ], + "button_final": [ + 0.13634224236011505, + -0.46290948987007136, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1365469396291709, + -0.46236317314201575, + 0.8035777119935389 + ], + "closest_button": [ + 0.13637880980968475, + -0.46287995576858515, + 0.768586277961731 + ], + "closest_ee_minus_button": [ + 0.0001681298194861347, + 0.0005167826265694009, + 0.03499143403180793 + ], + "button_min_z_position": [ + 0.13638606667518616, + -0.46287345886230463, + 0.7681851983070374 + ], + "min_active_finger_to_button": 0.14548310204051132, + "closest_active_finger": [ + 0.009160615503787994, + -0.5246999263763428, + 0.8106161952018738 + ], + "closest_active_finger_button": [ + 0.13634222745895386, + -0.4629079401493072, + 0.7763828635215759 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12718161195516586, + -0.06179198622703558, + 0.03423333168029785 + ], + "min_contact_pad_to_button": 0.02087508556567435, + "closest_contact_pad": [ + 0.13638606667518616, + -0.4636213683707912, + 0.7890468815742462 + ], + "closest_contact_pad_button": [ + 0.13638606667518616, + -0.46287345886230463, + 0.7681851983070374 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0007479095084865772, + 0.02086168326720883 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 84, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "bc9e55ef557c962e1ac5dbba067c489a5d339024b4023503ca904efb0d992c48", + "visual_seed": 8234595525720366383, + "episode_index": 84, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_85_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_85_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7e546cce6e0351269ffcfe5a8e9a3a9407d588f4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_85_success.json @@ -0,0 +1,700 @@ +{ + "episode": 85, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3058005104048998, + -0.12337401242879337, + 1.1642067969629823 + ], + "current_z": 1.1642067969629823, + "required_z": 0.8611064484101215, + "initial_z": 0.7611064484101215, + "lift_margin": 0.30310034855286083, + "gripper_z": 1.1552540243969311, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3015713962452621, + -0.12777168161141209, + 1.1552540243969311 + ], + "object_minus_gripper": [ + 0.004229114159637726, + 0.004397669182618719, + 0.008952772566051204 + ], + "object_to_gripper_xy": 0.0061012212560275746, + "object_to_gripper_z": 0.008952772566051204, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3058005104048998, + -0.1469374471220467, + 1.1642067969629823 + ], + "finger_b": [ + 0.29559754487695433, + -0.12337401242879337, + 1.1642067969629823 + ], + "finger_midpoint": [ + 0.30069902764092704, + -0.13515572977542004, + 1.1642067969629823 + ], + "object_minus_finger_midpoint": [ + 0.0051014827639727645, + 0.011781717346626669, + 0.0 + ], + "finger_gap": 0.025677538046075574, + "fingertip_max_gap": 0.09200352945406262, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012838769023037799, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1642067969629823, + "object_top_z": 1.214297846252098, + "finger_top_clearance": 0.05009104928911556, + "fingertip_min_top_clearance": 0.015027314786734669, + "object_projection_between_fingers": 0.8421131079405318, + "object_to_finger_line_xy": 0.00936292690770651, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04850176472703131, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2414735586011891, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 346, + "max_stable_success_frames": 346, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.28126690171090774, + -0.4063344534240166, + 0.8515395806645006 + ], + "target_position": [ + 0.2751745358500148, + -0.407098106753708, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006140039754832436, + "xy_threshold": 0.08, + "gripper_dist": 0.18379452091428777, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395806645006, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07557874112883368, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08599132657533108, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15149720568516836, + "release_required_pad_clearance": 0.05299566328766554, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0248737867016442, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008710503578186035, + "max_z_decrease": 0.008710503578186035, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500792955663636, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008710503578186035, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021028571846556904, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008710503578186035, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00871073307021894, + "max_button_displacement": 0.12, + "button_start": [ + 0.13087445497512815, + -0.4633595645427703, + 0.7768088579177856 + ], + "button_final": [ + 0.13087445497512815, + -0.4633595645427703, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13032971750622635, + -0.46464859395167507, + 0.8035912178773438 + ], + "closest_button": [ + 0.1309114545583725, + -0.4633328020572661, + 0.7686128616333008 + ], + "closest_ee_minus_button": [ + -0.0005817370521461473, + -0.0013157918944089464, + 0.034978356244042996 + ], + "button_min_z_position": [ + 0.13092075288295746, + -0.46331650018692005, + 0.7680983543395996 + ], + "min_active_finger_to_button": 0.14622507482832264, + "closest_active_finger": [ + -0.010351046919822693, + -0.4473411440849304, + 0.811012864112854 + ], + "closest_active_finger_button": [ + 0.13087590038776398, + -0.46335771679878224, + 0.7766589522361755 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14122694730758667, + 0.016016572713851818, + 0.03435391187667847 + ], + "min_contact_pad_to_button": 0.021028571846556904, + "closest_contact_pad": [ + 0.13092075288295746, + -0.4659445652582893, + 0.7889620574597663 + ], + "closest_contact_pad_button": [ + 0.13092075288295746, + -0.46331650018692005, + 0.7680983543395996 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0026280650713692566, + 0.02086370312016672 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 85, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "57e2c479c1c3c3d8f53ecb7470538b5457bc657a2e9ac74ba16c31efa2dc5a8f", + "visual_seed": 7317600176363349661, + "episode_index": 85, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_86_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_86_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a78f77ffea8cbb0499bc2a98c2d510e9ef679a38 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_86_success.json @@ -0,0 +1,700 @@ +{ + "episode": 86, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3064420259526491, + -0.11903420780671546, + 1.1651464550323052 + ], + "current_z": 1.1651464550323052, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.30403994701753934, + "gripper_z": 1.1564772773843779, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3019949063691807, + -0.12341373794993789, + 1.1564772773843779 + ], + "object_minus_gripper": [ + 0.004447119583468384, + 0.0043795301432224265, + 0.008669177647927295 + ], + "object_to_gripper_xy": 0.006241566859776627, + "object_to_gripper_z": 0.008669177647927295, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3064420259526491, + -0.1428701374787795, + 1.1651464550323052 + ], + "finger_b": [ + 0.2964169592075552, + -0.11903420780671546, + 1.1651464550323052 + ], + "finger_midpoint": [ + 0.3014294925801021, + -0.13095217264274747, + 1.1651464550323052 + ], + "object_minus_finger_midpoint": [ + 0.005012533372546979, + 0.01191796483603201, + 0.0 + ], + "finger_gap": 0.02585833534037275, + "fingertip_max_gap": 0.0925123604334778, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012929167670186379, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1651464550323052, + "object_top_z": 1.2151729433516347, + "finger_top_clearance": 0.05002648831932954, + "fingertip_min_top_clearance": 0.015007946495798861, + "object_projection_between_fingers": 0.8496950030840985, + "object_to_finger_line_xy": 0.009240996481344339, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0487561802167389, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8904395776649312, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 343, + "max_stable_success_frames": 343, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.29057776341924196, + -0.40924521148178317, + 0.8515395647094034 + ], + "target_position": [ + 0.28425255213183764, + -0.4100021525575137, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006370342033394685, + "xy_threshold": 0.08, + "gripper_dist": 0.18224015629585047, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395647094034, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07514938446828671, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08703080295467717, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1512407531962823, + "release_required_pad_clearance": 0.05351540147733859, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.0428830338851056, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008883893489837646, + "max_z_decrease": 0.008883893489837646, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035018822132274606, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008883893489837646, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.0208853863666435, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 122, + "max_z_decrease_with_contact_point": 0.008883893489837646, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008884159206921515, + "max_button_displacement": 0.12, + "button_start": [ + 0.13995248079299927, + -0.4662636220455169, + 0.7768088579177856 + ], + "button_final": [ + 0.13995248079299927, + -0.4662636220455169, + 0.7768088579177856 + ], + "closest_ee": [ + 0.14070729648124936, + -0.4651206263622833, + 0.8029195518284826 + ], + "closest_button": [ + 0.14000140130519867, + -0.46621537208557123, + 0.767924964427948 + ], + "closest_ee_minus_button": [ + 0.000705895176050686, + 0.0010947457232879376, + 0.03499458740053463 + ], + "button_min_z_position": [ + 0.14000140130519867, + -0.46621537208557123, + 0.767924964427948 + ], + "min_active_finger_to_button": 0.14472166051855806, + "closest_active_finger": [ + 0.014716848731040955, + -0.5301706790924072, + 0.8104117512702942 + ], + "closest_active_finger_button": [ + 0.13995212316513062, + -0.4662609696388244, + 0.7761183977127075 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12523527443408966, + -0.06390970945358282, + 0.03429335355758667 + ], + "min_contact_pad_to_button": 0.0208853863666435, + "closest_contact_pad": [ + 0.14000140130519867, + -0.46621537208557123, + 0.7888103507945915 + ], + "closest_contact_pad_button": [ + 0.14000140130519867, + -0.46621537208557123, + 0.767924964427948 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.0208853863666435 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 86, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "94768a3dd34b9bbbdccd31accb9f5008bc11a7054e0857f1c599efba80cce668", + "visual_seed": 6315708568620398424, + "episode_index": 86, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_87_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_87_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e2658d842c33846c2b8aa7aa8409132b090cb124 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_87_success.json @@ -0,0 +1,700 @@ +{ + "episode": 87, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30822720758158123, + -0.1208473412664871, + 1.1659546333280133 + ], + "current_z": 1.1659546333280133, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.3048481849178919, + "gripper_z": 1.1571595543319864, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3039071571611196, + -0.125204686652964, + 1.1571595543319864 + ], + "object_minus_gripper": [ + 0.00432005042046163, + 0.004357345386476905, + 0.00879507899602694 + ], + "object_to_gripper_xy": 0.006135902089536816, + "object_to_gripper_z": 0.00879507899602694, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30822720758158123, + -0.1445917091531813, + 1.1659546333280133 + ], + "finger_b": [ + 0.2982211687203867, + -0.1208473412664871, + 1.1659546333280133 + ], + "finger_midpoint": [ + 0.30322418815098395, + -0.1327195252098342, + 1.1659546333280133 + ], + "object_minus_finger_midpoint": [ + 0.0050030194305972775, + 0.011872183943347117, + 0.0 + ], + "finger_gap": 0.025766563993486043, + "fingertip_max_gap": 0.09262594628411222, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012883281996743027, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1659546333280133, + "object_top_z": 1.2159763015482068, + "finger_top_clearance": 0.050021668220193494, + "fingertip_min_top_clearance": 0.015006500466058014, + "object_projection_between_fingers": 0.8491965236087469, + "object_to_finger_line_xy": 0.009220750887422404, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04881297314205611, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9581458649227999, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 346, + "max_stable_success_frames": 346, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.28909594700114866, + -0.4110030830001372, + 0.851539608034565 + ], + "target_position": [ + 0.2823079968107263, + -0.4120936491188346, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006874998345229276, + "xy_threshold": 0.08, + "gripper_dist": 0.1829979265554892, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539608034565, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07537810537820142, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08771687188213455, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15143054252006166, + "release_required_pad_clearance": 0.053858435941067276, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.7262976908846963, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00870734453201294, + "max_z_decrease": 0.00870734453201294, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501907732883759, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00870734453201294, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02104095023541079, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00870734453201294, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00870752709979711, + "max_button_displacement": 0.12, + "button_start": [ + 0.1380079239606857, + -0.468355119228363, + 0.7768088579177856 + ], + "button_final": [ + 0.1380079239606857, + -0.468355119228363, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13792672425608707, + -0.46999657364998254, + 0.8036420745295086 + ], + "closest_button": [ + 0.13803695142269135, + -0.46832084655761713, + 0.7686632871627808 + ], + "closest_ee_minus_button": [ + -0.00011022716660427645, + -0.0016757270923654088, + 0.03497878736672788 + ], + "button_min_z_position": [ + 0.13803665339946747, + -0.4683066010475158, + 0.7681015133857727 + ], + "min_active_finger_to_button": 0.1458130212174828, + "closest_active_finger": [ + -0.003190852701663971, + -0.45654040575027466, + 0.8110473155975342 + ], + "closest_active_finger_button": [ + 0.13800911605358124, + -0.4683529138565063, + 0.7766311764717102 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1411999687552452, + 0.011812508106231634, + 0.034416139125823975 + ], + "min_contact_pad_to_button": 0.02104095023541079, + "closest_contact_pad": [ + 0.13803665339946747, + -0.4710117660863837, + 0.7889678419780651 + ], + "closest_contact_pad_button": [ + 0.13803665339946747, + -0.4683066010475158, + 0.7681015133857727 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0027051650388678627, + 0.020866328592292427 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 87, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d30972bd3bbe1a1a565d3c320dd78cef3def2d918ef6c258dbc654efdc03f0b9", + "visual_seed": 3273072722140431100, + "episode_index": 87, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_88_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_88_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d3cca99341149b469eea184a93ec0acc25ef6cb6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_88_success.json @@ -0,0 +1,700 @@ +{ + "episode": 88, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30491951295881853, + -0.11601953200100652, + 1.16560125536324 + ], + "current_z": 1.16560125536324, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.3044948069531186, + "gripper_z": 1.156860831880281, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3006468451466374, + -0.12045659566377177, + 1.156860831880281 + ], + "object_minus_gripper": [ + 0.004272667812181108, + 0.0044370636627652504, + 0.008740423482958892 + ], + "object_to_gripper_xy": 0.006159807154504131, + "object_to_gripper_z": 0.008740423482958892, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30491951295881853, + -0.13961047395457646, + 1.16560125536324 + ], + "finger_b": [ + 0.2946383274904144, + -0.11601953200100652, + 1.16560125536324 + ], + "finger_midpoint": [ + 0.2997789202246165, + -0.1278150029777915, + 1.16560125536324 + ], + "object_minus_finger_midpoint": [ + 0.005140592734202032, + 0.011795470976784975, + 0.0 + ], + "finger_gap": 0.02573393317960607, + "fingertip_max_gap": 0.09231375515615173, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01286696658980303, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.16560125536324, + "object_top_z": 1.2156140320065063, + "finger_top_clearance": 0.05001277664326631, + "fingertip_min_top_clearance": 0.015003832992979893, + "object_projection_between_fingers": 0.8403848723566433, + "object_to_finger_line_xy": 0.009425020571329582, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048656877578075866, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5908902543833683, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 349, + "max_stable_success_frames": 349, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2837641262264073, + -0.41283916386055114, + 0.8515396651104669 + ], + "target_position": [ + 0.2777499514062606, + -0.41352165953033015, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006052776148723314, + "xy_threshold": 0.08, + "gripper_dist": 0.18391875878308123, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396651104669, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07525916169063852, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08580443957948845, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15251551335524344, + "release_required_pad_clearance": 0.05290221978974423, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8439454119982351, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008717238903045654, + "max_z_decrease": 0.008717238903045654, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500083821838406, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008717238903045654, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020847592940869377, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008717238903045654, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008717562891916362, + "max_button_displacement": 0.12, + "button_start": [ + 0.13344988226890564, + -0.4697831273078918, + 0.7768088579177856 + ], + "button_final": [ + 0.13344988226890564, + -0.4697831273078918, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13277825191035353, + -0.46879323890935604, + 0.8030716028699756 + ], + "closest_button": [ + 0.13351692259311676, + -0.4697491526603698, + 0.76809161901474 + ], + "closest_ee_minus_button": [ + -0.0007386706827632317, + 0.0009559137510137816, + 0.0349799838552356 + ], + "button_min_z_position": [ + 0.13351692259311676, + -0.4697491526603698, + 0.76809161901474 + ], + "min_active_finger_to_button": 0.14605767526740268, + "closest_active_finger": [ + 0.005659349262714386, + -0.5316432118415833, + 0.8106322884559631 + ], + "closest_active_finger_button": [ + 0.13345052301883695, + -0.4697811305522918, + 0.7763490080833435 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12779117375612256, + -0.06186208128929144, + 0.03428328037261963 + ], + "min_contact_pad_to_button": 0.020847592940869377, + "closest_contact_pad": [ + 0.13351692259311676, + -0.46999347727740726, + 0.7889377802179375 + ], + "closest_contact_pad_button": [ + 0.13351692259311676, + -0.4697491526603698, + 0.76809161901474 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00024432461703743913, + 0.02084616120319749 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 88, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7ea5aac6d2e42dfacabdf31bb18795b4bcd32fd50748427200ef3e3ade6e0ce5", + "visual_seed": 42752786809774107, + "episode_index": 88, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_89_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_89_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fae8870f10d1b7d99936b2507a61c81ecec64942 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_89_success.json @@ -0,0 +1,700 @@ +{ + "episode": 89, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3044366296689716, + -0.12148656990569344, + 1.164666326013431 + ], + "current_z": 1.164666326013431, + "required_z": 0.8611066868287002, + "initial_z": 0.7611066868287002, + "lift_margin": 0.3035596391847307, + "gripper_z": 1.1555866462222266, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.30054098529801077, + -0.1258220500858645, + 1.1555866462222266 + ], + "object_minus_gripper": [ + 0.003895644370960849, + 0.004335480180171061, + 0.009079679791204276 + ], + "object_to_gripper_xy": 0.00582858760401309, + "object_to_gripper_z": 0.009079679791204276, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3044366296689716, + -0.1446034435275918, + 1.164666326013431 + ], + "finger_b": [ + 0.2940986785963567, + -0.12148656990569344, + 1.164666326013431 + ], + "finger_midpoint": [ + 0.29926765413266415, + -0.13304500671664263, + 1.164666326013431 + ], + "object_minus_finger_midpoint": [ + 0.005168975536307463, + 0.011558436810949188, + 0.0 + ], + "finger_gap": 0.025323172756007498, + "fingertip_max_gap": 0.09248979491597906, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012661586378003756, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.164666326013431, + "object_top_z": 1.2148220432850336, + "finger_top_clearance": 0.05015571727160273, + "fingertip_min_top_clearance": 0.015046715181480784, + "object_projection_between_fingers": 0.833339488932784, + "object_to_finger_line_xy": 0.009437249856391461, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04874489745798953, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7454968290807036, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 344, + "max_stable_success_frames": 344, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.28191969792755, + -0.4074774279838237, + 0.8515394974027884 + ], + "target_position": [ + 0.27494708094784476, + -0.408648375003631, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007070254908337431, + "xy_threshold": 0.08, + "gripper_dist": 0.18178293696891998, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515394974027884, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07532715824791383, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08654873572277537, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15034836608463986, + "release_required_pad_clearance": 0.053274367861387686, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5681917303100679, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008508026599884033, + "max_z_decrease": 0.008508026599884033, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499361560089919, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008508026599884033, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02086361434793351, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008508026599884033, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008508257577744146, + "max_button_displacement": 0.12, + "button_start": [ + 0.13064700365066523, + -0.46490982174873346, + 0.7768088579177856 + ], + "button_final": [ + 0.13064700365066523, + -0.46490982174873346, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1295981304611835, + -0.4644736646968419, + 0.8036305891517764 + ], + "closest_button": [ + 0.1306815594434738, + -0.4648872017860412, + 0.7686561942100525 + ], + "closest_ee_minus_button": [ + -0.0010834289822902743, + 0.00041353708919927845, + 0.03497439494172394 + ], + "button_min_z_position": [ + 0.1307018995285034, + -0.4648795425891875, + 0.7683008313179016 + ], + "min_active_finger_to_button": 0.14665971337547212, + "closest_active_finger": [ + 0.0022760406136512756, + -0.5269870758056641, + 0.8108193874359131 + ], + "closest_active_finger_button": [ + 0.13064712285995478, + -0.4649081230163573, + 0.7765244841575623 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1283710822463035, + -0.06207895278930675, + 0.03429490327835083 + ], + "min_contact_pad_to_button": 0.02086361434793351, + "closest_contact_pad": [ + 0.1307018995285034, + -0.4656921183519695, + 0.7891486159553406 + ], + "closest_contact_pad_button": [ + 0.1307018995285034, + -0.4648795425891875, + 0.7683008313179016 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0008125757627819863, + 0.02084778463743897 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 89, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e6c879b6faf72d35673a3ce69d7e9f02366dea60f95b9e8c23a2a309986a6fa8", + "visual_seed": 8288818476715911717, + "episode_index": 89, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_8_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_8_success.json new file mode 100644 index 0000000000000000000000000000000000000000..240ae70781ec48a02791de76993275a400f8e329 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_8_success.json @@ -0,0 +1,700 @@ +{ + "episode": 8, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30590374340457527, + -0.11925312628323426, + 1.16550918503637 + ], + "current_z": 1.16550918503637, + "required_z": 0.8611065676194107, + "initial_z": 0.7611065676194108, + "lift_margin": 0.3044026174169592, + "gripper_z": 1.156752940691898, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3015054700409733, + -0.12369342181228059, + 1.156752940691898 + ], + "object_minus_gripper": [ + 0.00439827336360199, + 0.004440295529046331, + 0.008756244344471975 + ], + "object_to_gripper_xy": 0.006249882636197227, + "object_to_gripper_z": 0.008756244344471975, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30590374340457527, + -0.143027383563413, + 1.16550918503637 + ], + "finger_b": [ + 0.2957747139870779, + -0.11925312628323426, + 1.16550918503637 + ], + "finger_midpoint": [ + 0.3008392286958266, + -0.13114025492332362, + 1.16550918503637 + ], + "object_minus_finger_midpoint": [ + 0.005064514708748691, + 0.011887128640089367, + 0.0 + ], + "finger_gap": 0.02584206930887422, + "fingertip_max_gap": 0.09233421837234815, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01292103465443711, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.16550918503637, + "object_top_z": 1.2156325916152806, + "finger_top_clearance": 0.05012340657891068, + "fingertip_min_top_clearance": 0.015037021973673202, + "object_projection_between_fingers": 0.8463682098670388, + "object_to_finger_line_xy": 0.009318532060719548, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048667109186174076, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6227334111015055, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 338, + "max_stable_success_frames": 338, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.29015000717303613, + -0.40651043138946125, + 0.8515395720752932 + ], + "target_position": [ + 0.2839481502600741, + -0.4073432370856285, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006257523032033017, + "xy_threshold": 0.08, + "gripper_dist": 0.18361473478343768, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395720752932, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07553634390324886, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08665743209538178, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15151395714211716, + "release_required_pad_clearance": 0.05332871604769089, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.6748678506495, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008679211139678955, + "max_z_decrease": 0.008679211139678955, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035014160408333626, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008679211139678955, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020962430629847775, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008679211139678955, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008679290706969335, + "max_button_displacement": 0.12, + "button_start": [ + 0.13964807987213135, + -0.4636046886444091, + 0.7768088579177856 + ], + "button_final": [ + 0.13964807987213135, + -0.4636046886444091, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13851917995711135, + -0.4645875849956395, + 0.803481313214085 + ], + "closest_button": [ + 0.13965067267417905, + -0.4635648429393768, + 0.7685003876686096 + ], + "closest_ee_minus_button": [ + -0.0011314927170676947, + -0.0010227420562627376, + 0.03498092554547538 + ], + "button_min_z_position": [ + 0.139648288488388, + -0.4635675251483916, + 0.7681296467781067 + ], + "min_active_finger_to_button": 0.14670868971627327, + "closest_active_finger": [ + -0.0019912421703338623, + -0.4466240406036377, + 0.810601532459259 + ], + "closest_active_finger_button": [ + 0.1396474987268448, + -0.46360415220260615, + 0.7763439416885376 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14163874089717865, + 0.01698011159896845, + 0.034257590770721436 + ], + "min_contact_pad_to_button": 0.020962430629847775, + "closest_contact_pad": [ + 0.139648288488388, + -0.46592842939260715, + 0.7889587041034113 + ], + "closest_contact_pad_button": [ + 0.139648288488388, + -0.4635675251483916, + 0.7681296467781067 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0023609042442155337, + 0.0208290573253046 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 8, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "81f55e7d93393fb02fa1705cb12220ff2c732ce0745727a3f6d05e0cfca8d674", + "visual_seed": 7785318249553189441, + "episode_index": 8, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_90_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_90_success.json new file mode 100644 index 0000000000000000000000000000000000000000..35d69ceb12d8b3e8e24dbbf16db148b21807e646 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_90_success.json @@ -0,0 +1,700 @@ +{ + "episode": 90, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3026962243039129, + -0.11981148744908435, + 1.1670513708653925 + ], + "current_z": 1.1670513708653925, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.3059448628506266, + "gripper_z": 1.1581680387687456, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2986275643934099, + -0.1242071003112818, + 1.1581680387687456 + ], + "object_minus_gripper": [ + 0.004068659910503036, + 0.004395612862197459, + 0.008883332096646823 + ], + "object_to_gripper_xy": 0.0059896081592747214, + "object_to_gripper_z": 0.008883332096646823, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3026962243039129, + -0.14310398801130486, + 1.1670513708653925 + ], + "finger_b": [ + 0.2923256017429956, + -0.11981148744908435, + 1.1670513708653925 + ], + "finger_midpoint": [ + 0.2975109130234542, + -0.1314577377301946, + 1.1670513708653925 + ], + "object_minus_finger_midpoint": [ + 0.005185311280458682, + 0.011646250281110243, + 0.0 + ], + "finger_gap": 0.02549687029307813, + "fingertip_max_gap": 0.09260538375392016, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012748435146539063, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1670513708653925, + "object_top_z": 1.217210258298432, + "finger_top_clearance": 0.050158887433039645, + "fingertip_min_top_clearance": 0.015047666229911926, + "object_projection_between_fingers": 0.8345617576095986, + "object_to_finger_line_xy": 0.009474015008670355, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04880269187696008, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7178969774760666, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 348, + "max_stable_success_frames": 348, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.28401953193845697, + -0.4097846008890965, + 0.8515394974174614 + ], + "target_position": [ + 0.2771802856268681, + -0.4108577634428393, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006922930591688605, + "xy_threshold": 0.08, + "gripper_dist": 0.18397749731210108, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515394974174614, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07523037669309761, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08516590453175553, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15272737342479328, + "release_required_pad_clearance": 0.052582952265877766, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.23069979318301592, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008651971817016602, + "max_z_decrease": 0.008651971817016602, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035029200602721154, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008651971817016602, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020882088235081777, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008651971817016602, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008652171769206045, + "max_button_displacement": 0.12, + "button_start": [ + 0.13288021087646482, + -0.46711921691894526, + 0.7768088579177856 + ], + "button_final": [ + 0.13288021087646482, + -0.46711921691894526, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13422032974451942, + -0.4664630421888573, + 0.8035529908636511 + ], + "closest_button": [ + 0.13291940093040464, + -0.4670891165733337, + 0.7685535550117493 + ], + "closest_ee_minus_button": [ + 0.0013009288141147823, + 0.0006260743844763716, + 0.034999435851901795 + ], + "button_min_z_position": [ + 0.13292439281940457, + -0.4670803844928741, + 0.768156886100769 + ], + "min_active_finger_to_button": 0.1444383604491039, + "closest_active_finger": [ + 0.006421111524105072, + -0.5279377698898315, + 0.8106277585029602 + ], + "closest_active_finger_button": [ + 0.13288021087646482, + -0.4671173691749572, + 0.7764018177986145 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12645909935235974, + -0.06082040071487432, + 0.0342259407043457 + ], + "min_contact_pad_to_button": 0.020882088235081777, + "closest_contact_pad": [ + 0.13292439281940457, + -0.46780553115057755, + 0.7890263798987164 + ], + "closest_contact_pad_button": [ + 0.13292439281940457, + -0.4670803844928741, + 0.768156886100769 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0007251466577034571, + 0.020869493797947336 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 90, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "03ad42cf98cf6d8fdf5455e002c07fc33a8a68b8dcfd75988ff02f3a09c85465", + "visual_seed": 3711880211855497002, + "episode_index": 90, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_91_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_91_success.json new file mode 100644 index 0000000000000000000000000000000000000000..cd5783052ef3c15c72a1f6410409a0d73a1784de --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_91_success.json @@ -0,0 +1,700 @@ +{ + "episode": 91, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30175798233337464, + -0.1255016980106451, + 1.1650055236683392 + ], + "current_z": 1.1650055236683392, + "required_z": 0.8611063888054765, + "initial_z": 0.7611063888054765, + "lift_margin": 0.3038991348628627, + "gripper_z": 1.1561421260279416, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29759690863715527, + -0.12982503440294418, + 1.1561421260279416 + ], + "object_minus_gripper": [ + 0.004161073696219375, + 0.004323336392299093, + 0.008863397640397563 + ], + "object_to_gripper_xy": 0.006000480969584564, + "object_to_gripper_z": 0.008863397640397563, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30175798233337464, + -0.14901531180276498, + 1.1650055236683392 + ], + "finger_b": [ + 0.291694111794464, + -0.1255016980106451, + 1.1650055236683392 + ], + "finger_midpoint": [ + 0.2967260470639193, + -0.13725850490670505, + 1.1650055236683392 + ], + "object_minus_finger_midpoint": [ + 0.005031935269455334, + 0.011756806896059957, + 0.0 + ], + "finger_gap": 0.02557677704068526, + "fingertip_max_gap": 0.09222957187679523, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012788388520342642, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1650055236683392, + "object_top_z": 1.2151235839040195, + "finger_top_clearance": 0.05011806023568033, + "fingertip_min_top_clearance": 0.015035418070704064, + "object_projection_between_fingers": 0.8451759415675305, + "object_to_finger_line_xy": 0.009252063492183393, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04861478593839762, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5272435249336835, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 343, + "max_stable_success_frames": 343, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2863438569208323, + -0.4085346884422979, + 0.8515396081298724 + ], + "target_position": [ + 0.27947892158915266, + -0.4098015331814466, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006980847563244179, + "xy_threshold": 0.08, + "gripper_dist": 0.18478085782011328, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396081298724, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07566036330126531, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08778158702242227, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1524075311772529, + "release_required_pad_clearance": 0.053890793511211135, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.7912724880342172, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008842527866363525, + "max_z_decrease": 0.008842527866363525, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504921894294106, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008842527866363525, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.021059066692526766, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 122, + "max_z_decrease_with_contact_point": 0.008842527866363525, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00884271489473542, + "max_button_displacement": 0.12, + "button_start": [ + 0.13517884910106656, + -0.46606299281120295, + 0.7768088579177856 + ], + "button_final": [ + 0.13517884910106656, + -0.46606299281120295, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13650656585240503, + -0.46751882395211586, + 0.8029581516362052 + ], + "closest_button": [ + 0.13519002497196198, + -0.46600657701492304, + 0.7679663300514221 + ], + "closest_ee_minus_button": [ + 0.0013165408804430567, + -0.0015122469371928182, + 0.03499182158478309 + ], + "button_min_z_position": [ + 0.13519002497196198, + -0.46600657701492304, + 0.7679663300514221 + ], + "min_active_finger_to_button": 0.14435383836781204, + "closest_active_finger": [ + -0.004267491400241852, + -0.451477974653244, + 0.81110680103302 + ], + "closest_active_finger_button": [ + 0.13518254458904266, + -0.46605890989303583, + 0.7767685651779175 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13945003598928452, + 0.014580935239791815, + 0.03433823585510254 + ], + "min_contact_pad_to_button": 0.021059066692526766, + "closest_contact_pad": [ + 0.13519002497196198, + -0.4687018534326707, + 0.7888522050628317 + ], + "closest_contact_pad_button": [ + 0.13519002497196198, + -0.46600657701492304, + 0.7679663300514221 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0026952764177476385, + 0.020885875011409594 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 91, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2702dac8d9b1831f4da0c1004efb113e61becd0f47bb347015ed206e618c9504", + "visual_seed": 7725783563587193180, + "episode_index": 91, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_92_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_92_success.json new file mode 100644 index 0000000000000000000000000000000000000000..81b49b070dbe7c3a0e7d9937feb46cb531c904ae --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_92_success.json @@ -0,0 +1,700 @@ +{ + "episode": 92, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30221170902225214, + -0.11612634082783886, + 1.166051383747157 + ], + "current_z": 1.166051383747157, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.30494487573239115, + "gripper_z": 1.1571844225614407, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2979205201842139, + -0.12046677792823497, + 1.1571844225614407 + ], + "object_minus_gripper": [ + 0.004291188838038251, + 0.004340437100396111, + 0.008866961185716393 + ], + "object_to_gripper_xy": 0.006103580577513422, + "object_to_gripper_z": 0.008866961185716393, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30221170902225214, + -0.13979559169980751, + 1.166051383747157 + ], + "finger_b": [ + 0.2921734274449206, + -0.11612634082783886, + 1.166051383747157 + ], + "finger_midpoint": [ + 0.29719256823358636, + -0.1279609662638232, + 1.166051383747157 + ], + "object_minus_finger_midpoint": [ + 0.005019140788665777, + 0.011834625435984333, + 0.0 + ], + "finger_gap": 0.02570993064685284, + "fingertip_max_gap": 0.09229667917244003, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012854965323426426, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.166051383747157, + "object_top_z": 1.2161217684690515, + "finger_top_clearance": 0.0500703847218944, + "fingertip_min_top_clearance": 0.01502111541656832, + "object_projection_between_fingers": 0.8475536828443402, + "object_to_finger_line_xy": 0.009241510925911649, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048648339586220016, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6467290370581362, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 344, + "max_stable_success_frames": 344, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.28468853880687683, + -0.40693343109957947, + 0.8515395628228719 + ], + "target_position": [ + 0.2781852717908805, + -0.40786842106151777, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006570136080042137, + "xy_threshold": 0.08, + "gripper_dist": 0.1861028482479208, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395628228719, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07564080806586979, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08855916070520202, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1537377711619465, + "release_required_pad_clearance": 0.05427958035260101, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.5789453515037066, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008656859397888184, + "max_z_decrease": 0.008656859397888184, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503559908380777, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008656859397888184, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.0210787963594341, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008656859397888184, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008656963216103075, + "max_button_displacement": 0.12, + "button_start": [ + 0.1338852047920227, + -0.46412986516952515, + 0.7768088579177856 + ], + "button_final": [ + 0.1338852047920227, + -0.46412986516952515, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1337908262907861, + -0.46586118692801515, + 0.8035129949208496 + ], + "closest_button": [ + 0.1338907927274704, + -0.4640891253948211, + 0.7685223817825317 + ], + "closest_ee_minus_button": [ + -9.996643668430671e-05, + -0.001772061533194036, + 0.03499061313831786 + ], + "button_min_z_position": [ + 0.13388028740882876, + -0.46408775448799133, + 0.7681519985198975 + ], + "min_active_finger_to_button": 0.14565915885228217, + "closest_active_finger": [ + -0.006812714040279388, + -0.4485534727573395, + 0.810693621635437 + ], + "closest_active_finger_button": [ + 0.13388539850711823, + -0.4641284942626953, + 0.7763708829879761 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1406981125473976, + 0.015575021505355835, + 0.03432273864746094 + ], + "min_contact_pad_to_button": 0.0210787963594341, + "closest_contact_pad": [ + 0.13388028740882876, + -0.46714385703357664, + 0.7890080742100497 + ], + "closest_contact_pad_button": [ + 0.13388028740882876, + -0.46408775448799133, + 0.7681519985198975 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.003056102545585304, + 0.020856075690152243 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 92, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "97bbd631c33df0624cef855a4496d9ac598900ceba8576626b808752ae232188", + "visual_seed": 6161994416254814048, + "episode_index": 92, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_93_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_93_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8187187dc7621d07b41552513402b2fa8582d528 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_93_success.json @@ -0,0 +1,700 @@ +{ + "episode": 93, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3058455181723483, + -0.11956861681741163, + 1.1659801287345029 + ], + "current_z": 1.1659801287345029, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.3048736207197369, + "gripper_z": 1.1569745952941317, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.30175861200366305, + -0.12393807283160364, + 1.1569745952941317 + ], + "object_minus_gripper": [ + 0.004086906168685234, + 0.004369456014192016, + 0.009005533440371138 + ], + "object_to_gripper_xy": 0.005982887922366271, + "object_to_gripper_z": 0.009005533440371138, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3058455181723483, + -0.14295066345835733, + 1.1659801287345029 + ], + "finger_b": [ + 0.29557703245016936, + -0.11956861681741163, + 1.1659801287345029 + ], + "finger_midpoint": [ + 0.30071127531125885, + -0.1312596401378845, + 1.1659801287345029 + ], + "object_minus_finger_midpoint": [ + 0.005134242861089433, + 0.011691023320472865, + 0.0 + ], + "finger_gap": 0.025537460800673834, + "fingertip_max_gap": 0.09217984532780502, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012768730400336917, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1659801287345029, + "object_top_z": 1.216074925176828, + "finger_top_clearance": 0.05009479644232506, + "fingertip_min_top_clearance": 0.015028438932697485, + "object_projection_between_fingers": 0.8383195977007043, + "object_to_finger_line_xy": 0.009401804430044874, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04858992266390251, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4142814756959095, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 349, + "max_stable_success_frames": 349, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2851584444402697, + -0.4127301225462719, + 0.8515396052947583 + ], + "target_position": [ + 0.2789922152435217, + -0.4136796480287417, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006238908650452204, + "xy_threshold": 0.08, + "gripper_dist": 0.180994297535289, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396052947583, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07538578197794484, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08537023570434614, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1494071244329431, + "release_required_pad_clearance": 0.05268511785217307, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4261249053355884, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008904695510864258, + "max_z_decrease": 0.008904695510864258, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500242128904205, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008904695510864258, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020990289818255122, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 122, + "max_z_decrease_with_contact_point": 0.008904695510864258, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008904893529102063, + "max_button_displacement": 0.12, + "button_start": [ + 0.13469214737415308, + -0.469941109418869, + 0.7768088579177856 + ], + "button_final": [ + 0.13469214737415308, + -0.469941109418869, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13395522219279413, + -0.47098640355148585, + 0.8035594463058916 + ], + "closest_button": [ + 0.13472250103950498, + -0.4699083268642425, + 0.7685820460319519 + ], + "closest_ee_minus_button": [ + -0.0007672788467108504, + -0.0010780766872433567, + 0.034977400273939696 + ], + "button_min_z_position": [ + 0.13473026454448694, + -0.46989557147026056, + 0.7679041624069214 + ], + "min_active_finger_to_button": 0.14649555390124464, + "closest_active_finger": [ + -0.007026590406894684, + -0.4560677707195282, + 0.8111286163330078 + ], + "closest_active_finger_button": [ + 0.13469634950160975, + -0.4699380695819855, + 0.7767313718795776 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14172293990850443, + 0.013870298862457275, + 0.034397244453430176 + ], + "min_contact_pad_to_button": 0.020990289818255122, + "closest_contact_pad": [ + 0.13473026454448694, + -0.47211243157598337, + 0.7887770586584242 + ], + "closest_contact_pad_button": [ + 0.13473026454448694, + -0.46989557147026056, + 0.7679041624069214 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0022168601057228066, + 0.020872896251502793 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 93, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "30d04feddd7dbfbdff08f8301f989f8cc9529c7a0d2f0f78d8b56396430661b1", + "visual_seed": 6542564318307970409, + "episode_index": 93, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_94_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_94_success.json new file mode 100644 index 0000000000000000000000000000000000000000..40477225fdb10950cece96da468e664f66d46fab --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_94_success.json @@ -0,0 +1,700 @@ +{ + "episode": 94, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30215875159731054, + -0.12273813884771022, + 1.1641770570967869 + ], + "current_z": 1.1641770570967869, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.3030705490820207, + "gripper_z": 1.1552504277022995, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29812523758400344, + -0.12708245387960843, + 1.1552504277022995 + ], + "object_minus_gripper": [ + 0.0040335140133070935, + 0.004344315031898208, + 0.008926629394487406 + ], + "object_to_gripper_xy": 0.005928094836616687, + "object_to_gripper_z": 0.008926629394487406, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30215875159731054, + -0.14608557556038812, + 1.1641770570967869 + ], + "finger_b": [ + 0.29196862877522856, + -0.12273813884771022, + 1.1641770570967869 + ], + "finger_midpoint": [ + 0.29706369018626955, + -0.13441185720404916, + 1.1641770570967869 + ], + "object_minus_finger_midpoint": [ + 0.005095061411040991, + 0.011673718356338944, + 0.0 + ], + "finger_gap": 0.02547432833622147, + "fingertip_max_gap": 0.09236954496498115, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012737164168110727, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1641770570967869, + "object_top_z": 1.214337804372035, + "finger_top_clearance": 0.05016074727524811, + "fingertip_min_top_clearance": 0.015048224182574432, + "object_projection_between_fingers": 0.8399877054230073, + "object_to_finger_line_xy": 0.009339333486751434, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048684772482490576, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.582221414818072, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 343, + "max_stable_success_frames": 343, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.28575439505252964, + -0.40787259218242466, + 0.8515395605713831 + ], + "target_position": [ + 0.27842044673420674, + -0.4091879490829847, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0074509705214611, + "xy_threshold": 0.08, + "gripper_dist": 0.1839134300404744, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395605713831, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07548346007498008, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08636698852509649, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15195986797473046, + "release_required_pad_clearance": 0.053183494262548245, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.390413003654222, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008746027946472168, + "max_z_decrease": 0.008746027946472168, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500728278334404, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008746027946472168, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020927490311628518, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008746027946472168, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008746208625679054, + "max_button_displacement": 0.12, + "button_start": [ + 0.134120374917984, + -0.46544939279556263, + 0.7768088579177856 + ], + "button_final": [ + 0.134120374917984, + -0.46544939279556263, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13504074012909437, + -0.4655430100754241, + 0.8030585632850066 + ], + "closest_button": [ + 0.13415250182151794, + -0.46540325880050654, + 0.7680628299713135 + ], + "closest_ee_minus_button": [ + 0.0008882383075764222, + -0.00013975127491755446, + 0.0349957333136931 + ], + "button_min_z_position": [ + 0.13415250182151794, + -0.46540325880050654, + 0.7680628299713135 + ], + "min_active_finger_to_button": 0.14492930731027928, + "closest_active_finger": [ + -0.005975261330604553, + -0.4515875279903412, + 0.8107717037200928 + ], + "closest_active_finger_button": [ + 0.1341213583946228, + -0.46544638276100153, + 0.7763424515724182 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14009661972522736, + 0.013858854770660345, + 0.03442925214767456 + ], + "min_contact_pad_to_button": 0.020927490311628518, + "closest_contact_pad": [ + 0.13415250182151794, + -0.4665406069315388, + 0.7889593916495452 + ], + "closest_contact_pad_button": [ + 0.13415250182151794, + -0.46540325880050654, + 0.7680628299713135 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0011373481310322786, + 0.02089656167823173 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 94, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8d040fe20f643070aaf0c99864640ab52c821ee035e5d2ecfefc118a8922f939", + "visual_seed": 5562022930009384935, + "episode_index": 94, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_95_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_95_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bd10e0060a1f4ace4e89eb644fe96ec73fff295e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_95_success.json @@ -0,0 +1,700 @@ +{ + "episode": 95, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30248735116667785, + -0.12372359630571077, + 1.1633838528146137 + ], + "current_z": 1.1633838528146137, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.3022773447998477, + "gripper_z": 1.1546382938033677, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29810695975395624, + -0.12811410965077336, + 1.1546382938033677 + ], + "object_minus_gripper": [ + 0.004380391412721618, + 0.004390513345062588, + 0.008745559011245962 + ], + "object_to_gripper_xy": 0.006201970361249558, + "object_to_gripper_z": 0.008745559011245962, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30248735116667785, + -0.1474730837430439, + 1.1633838528146137 + ], + "finger_b": [ + 0.2924270234265447, + -0.12372359630571077, + 1.1633838528146137 + ], + "finger_midpoint": [ + 0.2974571872966113, + -0.13559834002437735, + 1.1633838528146137 + ], + "object_minus_finger_midpoint": [ + 0.005030163870066551, + 0.011874743718666578, + 0.0 + ], + "finger_gap": 0.025792408723788043, + "fingertip_max_gap": 0.0924125537628955, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012896204361894016, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1633838528146137, + "object_top_z": 1.2135535321660726, + "finger_top_clearance": 0.050169679351458996, + "fingertip_min_top_clearance": 0.015050903805437698, + "object_projection_between_fingers": 0.8478610362920682, + "object_to_finger_line_xy": 0.009263486393939896, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048706276881447755, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6049966544286198, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 337, + "max_stable_success_frames": 337, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2839141599029748, + -0.40923584010254394, + 0.851539557968152 + ], + "target_position": [ + 0.27697141436356293, + -0.4103563083419972, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007032578808705028, + "xy_threshold": 0.08, + "gripper_dist": 0.18438943488611148, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539557968152, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07535204339148645, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08515868602753478, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1526572324198467, + "release_required_pad_clearance": 0.05257934301376739, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.22381167219619724, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008727967739105225, + "max_z_decrease": 0.008727967739105225, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499240486214807, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008727967739105225, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.02092204593149324, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008727967739105225, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008728270356041068, + "max_button_displacement": 0.12, + "button_start": [ + 0.13267134130001068, + -0.46661776304244984, + 0.7768088579177856 + ], + "button_final": [ + 0.13267134130001068, + -0.46661776304244984, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13163223116326536, + -0.46712213572785655, + 0.8038089026642852 + ], + "closest_button": [ + 0.1326669156551361, + -0.4665941894054412, + 0.7688357830047607 + ], + "closest_ee_minus_button": [ + -0.0010346844918707465, + -0.0005279463224153735, + 0.03497311965952443 + ], + "button_min_z_position": [ + 0.13272836804389954, + -0.46657270193099964, + 0.7680808901786804 + ], + "min_active_finger_to_button": 0.14679784009181523, + "closest_active_finger": [ + -0.009440198540687561, + -0.4537532329559326, + 0.8108418583869934 + ], + "closest_active_finger_button": [ + 0.13267230987548828, + -0.4666154980659484, + 0.7763715386390686 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14211250841617584, + 0.012862265110015758, + 0.034470319747924805 + ], + "min_contact_pad_to_button": 0.02092204593149324, + "closest_contact_pad": [ + 0.13272836804389954, + -0.46804683156413446, + 0.7889509392390978 + ], + "closest_contact_pad_button": [ + 0.13272836804389954, + -0.46657270193099964, + 0.7680808901786804 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001474129633134813, + 0.02087004906041734 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 95, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1e61eb3ab89e33725e523fa2eb19c5a568e633bc7fb2333532ed2c059a08a85f", + "visual_seed": 6044767519330853429, + "episode_index": 95, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_96_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_96_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1012683bbb6f205e00d5ae5647dfdb150c102b72 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_96_success.json @@ -0,0 +1,700 @@ +{ + "episode": 96, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30415081549766093, + -0.12445962878764165, + 1.163686639052302 + ], + "current_z": 1.163686639052302, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.302580131037536, + "gripper_z": 1.1547637219685756, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3000118607094055, + -0.12873920562722735, + 1.1547637219685756 + ], + "object_minus_gripper": [ + 0.004138954788255433, + 0.0042795768395857, + 0.00892291708372639 + ], + "object_to_gripper_xy": 0.005953631216756788, + "object_to_gripper_z": 0.00892291708372639, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30415081549766093, + -0.14797002021586228, + 1.163686639052302 + ], + "finger_b": [ + 0.29415820508649726, + -0.12445962878764165, + 1.163686639052302 + ], + "finger_midpoint": [ + 0.29915451029207907, + -0.13621482450175196, + 1.163686639052302 + ], + "object_minus_finger_midpoint": [ + 0.0049963052055818635, + 0.011755195714110309, + 0.0 + ], + "finger_gap": 0.02554585617937764, + "fingertip_max_gap": 0.09253955198980199, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012772928089688825, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.163686639052302, + "object_top_z": 1.2138044190718955, + "finger_top_clearance": 0.05011778001959355, + "fingertip_min_top_clearance": 0.015035334005878098, + "object_projection_between_fingers": 0.8469909969077777, + "object_to_finger_line_xy": 0.009196410584422764, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048769775994900996, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8422932324825014, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 340, + "max_stable_success_frames": 340, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2863182379801021, + -0.40440938021388384, + 0.8515395560203309 + ], + "target_position": [ + 0.2795195357703908, + -0.40526905785012224, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006852838636257362, + "xy_threshold": 0.08, + "gripper_dist": 0.18511991196599856, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395560203309, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07525606698530339, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08637677469162768, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15368005197669266, + "release_required_pad_clearance": 0.05318838734581384, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3999500585016447, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008664190769195557, + "max_z_decrease": 0.008664190769195557, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499625525287129, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008664190769195557, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.02093868616624249, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008664190769195557, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008664360490973475, + "max_button_displacement": 0.12, + "button_start": [ + 0.13521945476531977, + -0.46153050661087025, + 0.7768088579177856 + ], + "button_final": [ + 0.13521945476531977, + -0.46153050661087025, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13572231065411608, + -0.4618867904308731, + 0.8036075819362225 + ], + "closest_button": [ + 0.1352486759424209, + -0.4614993929862975, + 0.7686166763305664 + ], + "closest_ee_minus_button": [ + 0.00047363471169517557, + -0.0003873974445756101, + 0.0349909056056561 + ], + "button_min_z_position": [ + 0.13525198400020594, + -0.46148711442947377, + 0.7681446671485901 + ], + "min_active_finger_to_button": 0.1453519051223873, + "closest_active_finger": [ + -0.00534319132566452, + -0.4479566812515259, + 0.8108102679252625 + ], + "closest_active_finger_button": [ + 0.1352203488349914, + -0.4615279138088225, + 0.7763880491256714 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14056354016065592, + 0.013571232557296642, + 0.034422218799591064 + ], + "min_contact_pad_to_button": 0.02093868616624249, + "closest_contact_pad": [ + 0.13525198400020594, + -0.4629028163237083, + 0.7890354394300318 + ], + "closest_contact_pad_button": [ + 0.13525198400020594, + -0.46148711442947377, + 0.7681446671485901 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0014157018942345112, + 0.02089077228144176 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 96, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9d97cc6ab386d91f572279583cdc8103641d5d66d10f3333415966089c803593", + "visual_seed": 9042959848355375079, + "episode_index": 96, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_97_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_97_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3849c488254cd9ae020b2ed84cf1a505db51c294 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_97_success.json @@ -0,0 +1,700 @@ +{ + "episode": 97, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3049592803475675, + -0.12586124163423268, + 1.1657920518637548 + ], + "current_z": 1.1657920518637548, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.3046856034536334, + "gripper_z": 1.1568661740126904, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3007495499047457, + -0.13035222491240056, + 1.1568661740126904 + ], + "object_minus_gripper": [ + 0.004209730442821746, + 0.0044909832781678816, + 0.008925877851064357 + ], + "object_to_gripper_xy": 0.006155547189812106, + "object_to_gripper_z": 0.008925877851064357, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3049592803475675, + -0.14915021651640584, + 1.1657920518637548 + ], + "finger_b": [ + 0.2943581767192905, + -0.12586124163423268, + 1.1657920518637548 + ], + "finger_midpoint": [ + 0.299658728533429, + -0.13750572907531927, + 1.1657920518637548 + ], + "object_minus_finger_midpoint": [ + 0.0053005518141384655, + 0.011644487441086593, + 0.0 + ], + "finger_gap": 0.025588273665879843, + "fingertip_max_gap": 0.09211854793472093, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012794136832939921, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1657920518637548, + "object_top_z": 1.2159456476400712, + "finger_top_clearance": 0.050153595776316395, + "fingertip_min_top_clearance": 0.015046078732894918, + "object_projection_between_fingers": 0.8283593359628674, + "object_to_finger_line_xy": 0.009648514758987654, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04855927396736047, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3952324979116157, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 343, + "max_stable_success_frames": 343, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.29088075552511633, + -0.4069244817505563, + 0.8515395403121048 + ], + "target_position": [ + 0.2832116027856059, + -0.40829301825575515, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007790301400331179, + "xy_threshold": 0.08, + "gripper_dist": 0.1830853439712918, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395403121048, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07526030667374549, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08501682224091077, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.151788204657527, + "release_required_pad_clearance": 0.05250841112045539, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.08846928482561174, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008853554725646973, + "max_z_decrease": 0.008853554725646973, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501413143158149, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008853554725646973, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020900468513462094, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 122, + "max_z_decrease_with_contact_point": 0.008853554725646973, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008853769666705348, + "max_button_displacement": 0.12, + "button_start": [ + 0.13891153037548065, + -0.46455448865890503, + 0.7768088579177856 + ], + "button_final": [ + 0.13891153037548065, + -0.46455448865890503, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13996258399148262, + -0.46410531733205745, + 0.8029525224584123 + ], + "closest_button": [ + 0.13895149528980255, + -0.46450749039649963, + 0.7679553031921387 + ], + "closest_ee_minus_button": [ + 0.0010110887016800685, + 0.0004021730644421795, + 0.03499721926627364 + ], + "button_min_z_position": [ + 0.13895149528980255, + -0.46450749039649963, + 0.7679553031921387 + ], + "min_active_finger_to_button": 0.14477911409011704, + "closest_active_finger": [ + 0.01407168060541153, + -0.5293537378311157, + 0.8110942840576172 + ], + "closest_active_finger_button": [ + 0.13891349732875824, + -0.4645523726940155, + 0.7767971158027649 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12484181672334671, + -0.06480136513710022, + 0.034297168254852295 + ], + "min_contact_pad_to_button": 0.020900468513462094, + "closest_contact_pad": [ + 0.13895149528980255, + -0.46507294560568846, + 0.7888481212042839 + ], + "closest_contact_pad_button": [ + 0.13895149528980255, + -0.46450749039649963, + 0.7679553031921387 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0005654552091888254, + 0.020892818012145264 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 97, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2b2c03b68b4132f50e6e209c0a3d9a91d27427a5f2e2f3b095061cf0570a4394", + "visual_seed": 4682853901312357026, + "episode_index": 97, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_98_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_98_success.json new file mode 100644 index 0000000000000000000000000000000000000000..24c261f191d2cdeefe1f0120e275192328f003a4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_98_success.json @@ -0,0 +1,700 @@ +{ + "episode": 98, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30371861491199187, + -0.12596301262437049, + 1.1678594419796124 + ], + "current_z": 1.1678594419796124, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.30675299356949126, + "gripper_z": 1.158881202117884, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29960714986224046, + -0.13031050565334623, + 1.158881202117884 + ], + "object_minus_gripper": [ + 0.004111465049751406, + 0.004347493028975746, + 0.00897823986172841 + ], + "object_to_gripper_xy": 0.005983714606523279, + "object_to_gripper_z": 0.00897823986172841, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30371861491199187, + -0.14942723347749878, + 1.1678594419796124 + ], + "finger_b": [ + 0.29359238978949176, + -0.12596301262437049, + 1.1678594419796124 + ], + "finger_midpoint": [ + 0.2986555023507418, + -0.13769512305093462, + 1.1678594419796124 + ], + "object_minus_finger_midpoint": [ + 0.005063112561250083, + 0.011732110426564135, + 0.0 + ], + "finger_gap": 0.025556018772021852, + "fingertip_max_gap": 0.0923253864551691, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012778009386010925, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1678594419796124, + "object_top_z": 1.217995867230203, + "finger_top_clearance": 0.05013642525059048, + "fingertip_min_top_clearance": 0.01504092757517711, + "object_projection_between_fingers": 0.8429967076885723, + "object_to_finger_line_xy": 0.009297378625459528, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048662693227584555, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4681389057789902, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 348, + "max_stable_success_frames": 348, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2849275462033631, + -0.40506038993841065, + 0.851539599343862 + ], + "target_position": [ + 0.2785854863904741, + -0.40583758084277777, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0063895029831820644, + "xy_threshold": 0.08, + "gripper_dist": 0.1819636600730737, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539599343862, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07523591895792893, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08570352292985133, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1507760011681592, + "release_required_pad_clearance": 0.052851761464925665, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7465062397673821, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008541285991668701, + "max_z_decrease": 0.008541285991668701, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499299772483332, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008541285991668701, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.020949121240022156, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008541285991668701, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008541458653524426, + "max_button_displacement": 0.12, + "button_start": [ + 0.13428540527820584, + -0.46209904551506037, + 0.7768088579177856 + ], + "button_final": [ + 0.13428540527820584, + -0.46209904551506037, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13450786062276274, + -0.46266454633069826, + 0.8036085389186252 + ], + "closest_button": [ + 0.13431848585605619, + -0.4620675444602966, + 0.7686211466789246 + ], + "closest_ee_minus_button": [ + 0.0001893747667065515, + -0.0005970018704016811, + 0.0349873922397006 + ], + "button_min_z_position": [ + 0.13432337343692777, + -0.4620602130889892, + 0.7682675719261169 + ], + "min_active_finger_to_button": 0.14555485913675642, + "closest_active_finger": [ + -0.006350189447402954, + -0.44706156849861145, + 0.8109297752380371 + ], + "closest_active_finger_button": [ + 0.1342857033014297, + -0.4620969891548156, + 0.7765539288520813 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14063589274883265, + 0.015035420656204168, + 0.03437584638595581 + ], + "min_contact_pad_to_button": 0.020949121240022156, + "closest_contact_pad": [ + 0.13432337343692777, + -0.4638309461411904, + 0.7891417230510607 + ], + "closest_contact_pad_button": [ + 0.13432337343692777, + -0.4620602130889892, + 0.7682675719261169 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0017707330522012121, + 0.02087415112494373 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 98, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5704a554921a1421f252ee9b9549ee28b1dd5a90aa285b39a1b1cb065eb8428d", + "visual_seed": 2363059125905658598, + "episode_index": 98, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_99_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_99_success.json new file mode 100644 index 0000000000000000000000000000000000000000..29cbd89ca130ee6b8699f1bf5ab1bf6a1fac635a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_99_success.json @@ -0,0 +1,700 @@ +{ + "episode": 99, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3097924190377829, + -0.1229662801122191, + 1.1673777296985146 + ], + "current_z": 1.1673777296985146, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.3062712812883933, + "gripper_z": 1.1581575843554837, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.30589578203626433, + -0.12731857243472838, + 1.1581575843554837 + ], + "object_minus_gripper": [ + 0.0038966370015185436, + 0.004352292322509277, + 0.00922014534303095 + ], + "object_to_gripper_xy": 0.00584176586163607, + "object_to_gripper_z": 0.00922014534303095, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3097924190377829, + -0.14611638586293613, + 1.1673777296985146 + ], + "finger_b": [ + 0.29943314425820433, + -0.1229662801122191, + 1.1673777296985146 + ], + "finger_midpoint": [ + 0.3046127816479936, + -0.13454133298757762, + 1.1673777296985146 + ], + "object_minus_finger_midpoint": [ + 0.005179637389789271, + 0.01157505287535851, + 0.0 + ], + "finger_gap": 0.0253622154045776, + "fingertip_max_gap": 0.09230833506062233, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.0126811077022888, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1673777296985146, + "object_top_z": 1.2175103556813731, + "finger_top_clearance": 0.0501326259828585, + "fingertip_min_top_clearance": 0.015039787794857583, + "object_projection_between_fingers": 0.8331660884616381, + "object_to_finger_line_xy": 0.009455731797179432, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04865416753031117, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4517337194539826, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 351, + "max_stable_success_frames": 351, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.28261564762223806, + -0.4065753117959129, + 0.8515395778496043 + ], + "target_position": [ + 0.2761816951905931, + -0.40753954158333033, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0065058037916627355, + "xy_threshold": 0.08, + "gripper_dist": 0.18269149366106519, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395778496043, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07554727733189943, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08664216437306739, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15062779488724568, + "release_required_pad_clearance": 0.0533210821865337, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.6598460469181777, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00865626335144043, + "max_z_decrease": 0.00865626335144043, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501740716796696, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00865626335144043, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020984007737026706, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00865626335144043, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008656424556241448, + "max_button_displacement": 0.12, + "button_start": [ + 0.1318816244602203, + -0.4638009965419768, + 0.7768088579177856 + ], + "button_final": [ + 0.1318816244602203, + -0.4638009965419768, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13291471478684727, + -0.46460687785217597, + 0.8036251452073857 + ], + "closest_button": [ + 0.13191016018390653, + -0.4637692570686339, + 0.768632173538208 + ], + "closest_ee_minus_button": [ + 0.0010045546029407437, + -0.0008376207835420479, + 0.0349929716691777 + ], + "button_min_z_position": [ + 0.13190948963165283, + -0.46375611424446095, + 0.7681525945663452 + ], + "min_active_finger_to_button": 0.14480944377354787, + "closest_active_finger": [ + -0.008151702582836151, + -0.45061764121055603, + 0.810892641544342 + ], + "closest_active_finger_button": [ + 0.13188254833221433, + -0.4637980163097381, + 0.776447594165802 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14003425091505048, + 0.013180375099182073, + 0.03444504737854004 + ], + "min_contact_pad_to_button": 0.020984007737026706, + "closest_contact_pad": [ + 0.13190948963165283, + -0.465638018074191, + 0.7890520447668468 + ], + "closest_contact_pad_button": [ + 0.13190948963165283, + -0.46375611424446095, + 0.7681525945663452 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001881903829730025, + 0.020899450200501546 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 99, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "620f9fd1865ada285462505ae727fec2cf5dabe4fd1252a621b04b1c2ad94d40", + "visual_seed": 7548555001603756878, + "episode_index": 99, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_9_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_9_success.json new file mode 100644 index 0000000000000000000000000000000000000000..105b5fb827a72dc0478007d7aaba2533ae084cef --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/episode_9_success.json @@ -0,0 +1,700 @@ +{ + "episode": 9, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3108976525008962, + -0.11981987753362514, + 1.1635075490414208 + ], + "current_z": 1.1635075490414208, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.3024010410266549, + "gripper_z": 1.1546302840832627, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3066305776217396, + -0.12415337070306635, + 1.1546302840832627 + ], + "object_minus_gripper": [ + 0.004267074879156563, + 0.004333493169441219, + 0.008877264958158104 + ], + "object_to_gripper_xy": 0.006081701330542523, + "object_to_gripper_z": 0.008877264958158104, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3108976525008962, + -0.14349606160574632, + 1.1635075490414208 + ], + "finger_b": [ + 0.30087939259557983, + -0.11981987753362514, + 1.1635075490414208 + ], + "finger_midpoint": [ + 0.305888522548238, + -0.13165796956968573, + 1.1635075490414208 + ], + "object_minus_finger_midpoint": [ + 0.005009129952658176, + 0.011838092036060593, + 0.0 + ], + "finger_gap": 0.02570850489132797, + "fingertip_max_gap": 0.09242936025255247, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012854252445663985, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1635075490414208, + "object_top_z": 1.213495558541808, + "finger_top_clearance": 0.049988009500387065, + "fingertip_min_top_clearance": 0.014996402850116086, + "object_projection_between_fingers": 0.8481443524728787, + "object_to_finger_line_xy": 0.009226291711760806, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048714680126276236, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8918155051892727, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 344, + "max_stable_success_frames": 344, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2878852458283392, + -0.4118724414876574, + 0.8515395949073378 + ], + "target_position": [ + 0.28126309035611, + -0.41291628833271027, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006703921190937547, + "xy_threshold": 0.08, + "gripper_dist": 0.1836969479194467, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395949073378, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0753369051255447, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0866121863875096, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15218309589739495, + "release_required_pad_clearance": 0.0533060931937548, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.6303475056938304, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008817017078399658, + "max_z_decrease": 0.008817017078399658, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035104426468119315, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008817017078399658, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.02086897845969171, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 122, + "max_z_decrease_with_contact_point": 0.008817017078399658, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008817125102468215, + "max_button_displacement": 0.12, + "button_start": [ + 0.13696300983428952, + -0.46917775273323054, + 0.7768088579177856 + ], + "button_final": [ + 0.13696300983428952, + -0.46917775273323054, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13862403820453037, + -0.4671514937326712, + 0.8033712865312803 + ], + "closest_button": [ + 0.1369594633579254, + -0.46912708878517145, + 0.7683620452880859 + ], + "closest_ee_minus_button": [ + 0.0016645748466049826, + 0.0019755950525002786, + 0.03500924124319438 + ], + "button_min_z_position": [ + 0.13695609569549555, + -0.46913465857505793, + 0.767991840839386 + ], + "min_active_finger_to_button": 0.14355378500521168, + "closest_active_finger": [ + 0.011136114597320557, + -0.5292211771011353, + 0.8103872537612915 + ], + "closest_active_finger_button": [ + 0.13696265220642084, + -0.46917605400085444, + 0.7761826515197754 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1258265376091003, + -0.06004512310028082, + 0.03420460224151611 + ], + "min_contact_pad_to_button": 0.02086897845969171, + "closest_contact_pad": [ + 0.13695609569549555, + -0.46913465857505793, + 0.7888608192990777 + ], + "closest_contact_pad_button": [ + 0.13695609569549555, + -0.46913465857505793, + 0.767991840839386 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02086897845969171 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 9, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "workflow_spec_digest": "53bbd6d08295b96d9a3996798aedffcf3f3554239d4c83add362cd0bfe5fafa1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "15a448e55962a937bc71e9010368cdd669fc1d75d98a5bad5cd43aa46ce79f9f", + "visual_seed": 4290676287680944287, + "episode_index": 9, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557 + ], + "runtime_workflow_digest": "09f81f9da7588bab469eaae9943f4d21ad48214794adefa9cbf740f480e9d833" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/summary.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..b3149e9394a176da4fd446a1d77c4c8536670303 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00030/results/summary.json @@ -0,0 +1,9 @@ +{ + "scope": "published_success_subset", + "case": "lab3_heat_2beaker_s03_plr_hta_00030", + "family": "lab3_v1", + "published_episodes": 100, + "published_successes": 100, + "published_failures": 0, + "matched_success_results": 100 +} diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0000.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0000.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a1a76bec0a762ff1afb14d500cfdbc35fbed80b0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0000.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b36f3c512005adecc422992629985321241c41ca7d5e1c6c0fbc057e31628827 +size 5507086 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0001.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0001.h5 new file mode 100644 index 0000000000000000000000000000000000000000..02000497576d318100b2ec3319a2ac1b8a9f2351 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0001.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e5495a680aabfabacde03278e7cb43be188d2ac824d3144e67f864f8aaebd4d9 +size 5377477 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0002.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0002.h5 new file mode 100644 index 0000000000000000000000000000000000000000..572e046814f4dea76930ed7037077fc83f7eedd3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0002.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fb00ba4684318fed9bb75d4ed85e1c5ebfebce5eea0e92e0340418b7b21be075 +size 4084235 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0003.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0003.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ec3cc08cc099e2baabea7be148abb38042329900 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0003.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e4238f84e0d1740e3dc6a34322a5120a49146645c7c017872483b18b0387f35d +size 4461415 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0004.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0004.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2b6db0720acd09a124edaac9313f4c1c3fb4326e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0004.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:21431e47eaaeff9188b4fe52954a80c0712d4b3d0493b431d27d4d5c033deef9 +size 4709456 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0005.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0005.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f3ce50e8cfcf6334578c6a283596af8e825aa2d2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0005.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b5adbca5f2e55576654b5499c432d72f355259ab1891f6a472b5b6f2dad533db +size 3931368 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0006.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0006.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b71d06bf7f47ec59a792b90d78968f7ee8ee8b57 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0006.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6db1bba86290e20b6fa7bdedac5b594ce2e50b7ffad87f9247214dfbf06119f5 +size 4134361 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0007.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0007.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f7c9a87d9b748cd46bd8f1355804acfb181a0e82 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0007.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:163ef0b9f420149e391f6e2e203f3d0654ea9cbea274e536fa49c060a3da8078 +size 6007467 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0008.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0008.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b2ba62e8aa2470e6efe03c50d395b986471fa8dc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0008.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:230185838ebc38de4432214226db522fd2f0625c1818c62744be61ab711c14ee +size 5075160 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0009.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0009.h5 new file mode 100644 index 0000000000000000000000000000000000000000..da1197d18235a042a47d8f4a894c6249fa7e775b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0009.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b72319136e66bebaf9a13492b949d547e4789f4610681fce97dd8fcbd89c939b +size 4246527 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0010.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0010.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5e04536000e6f0a1a08d5560f7f5bd5239afaab4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0010.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a69687ee0f1ea1704376a9dce6d8c1443d97712df0c00b774bfc545b92a0b486 +size 5667231 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0011.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0011.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e4ade2ba4737d325dbcaccf731372a8365ded683 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0011.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7598cc555594d3fafb1e0154a44daac0ba0a5190068d133101ad050b75d9fcc8 +size 4215814 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0012.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0012.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c9246ed2053304eb7fd9b9c8f16f1fcf05665b73 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0012.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:476d70d6539c0c19815212e6a13c66e2dba69ce0dc4dabfd1d3f1925f4c87352 +size 4081791 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0013.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0013.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8571bb4275e24d0cc5dcdaa5d8067c78fac5a3e6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0013.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:823ec4948b29ffa4972cee2d4c13296a5df85fa8825885a5dc8a016ef32a197b +size 4816853 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0014.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0014.h5 new file mode 100644 index 0000000000000000000000000000000000000000..926e99ec613f6030c21a68b42d8e4d9442691c20 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0014.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:64b471749d81b90aa44f73787c9bae78901646e20f2bf01d1094af1198dcecb5 +size 4953627 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0015.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0015.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bb07bf9afb9d0637e60114b91d2e189d51db3eaf --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0015.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:03e206ebaf58cec9aa1d57dd97c8d159539ffcd6219089cce4808928af472298 +size 4540386 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0016.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0016.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6d6ef8b8f5ebc3dd001756168c5d9e628267fffc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0016.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:157142961ab4d0dd0f5cd8ffe2d4f5bfba25de2296e9cb7c0facf6b2b0c12cf1 +size 4394790 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0017.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0017.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1fe919b67db2173bf36bbabc9a58f159ea12a3c9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0017.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0f3dfbde955f77162c599f7cbf006019e5c536d94ffdb0fab2b0d7766f4c0854 +size 3601786 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0018.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0018.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c69efb7aad33864589f44a4a2e7560a33d437f9e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0018.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2d575070925363f2ce374a44379f1f111fbe1a7576207da5323f72b7753bf872 +size 5083759 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0019.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0019.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e4ee4f09125ddbe493e91af875e19112b077d57b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0019.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d6d4eca687e6af42484dcfc25883db31f4772a6402729d4de0b74457894a609f +size 4679002 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0020.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0020.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e5837c7da90797dca35c031a59d57c98f45c32c4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0020.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8bd6022f76a1ca9c671fa8ef3e86f1ae46d4fd6e8566a647542d7dbd8e6f7a8a +size 4603985 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0021.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0021.h5 new file mode 100644 index 0000000000000000000000000000000000000000..07154937fd05934fb666d14726beefeedccbc827 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0021.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4c542e0ff8d8ab7f42fb5406c8fe89874c340828ec425fedfb9d2c20b62410af +size 5947015 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0022.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0022.h5 new file mode 100644 index 0000000000000000000000000000000000000000..763094f366f8b3c0c216e184a022e14fff11577f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0022.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e95b8002f9f01eeadcd84b4d65b774f238f4406eabe16d3c7b4a262456b61150 +size 5403466 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0023.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0023.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ddc5cc45277ccc278200bfc84bf06020e324b6bb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0023.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5b56c4393abd7964942cba98390cc41cac7554e585b22c3cc76ada5982329aee +size 5185885 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0024.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0024.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8aeaf6d8ced2326acfd677f66732f67e6a69df20 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0024.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ea1be5279012d32a9bc08f64b24f94816ef20b024dd01417d4248b3073d6356b +size 4700163 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0025.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0025.h5 new file mode 100644 index 0000000000000000000000000000000000000000..293c8575a39d71d9dfebd375ec545952bf5aba54 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0025.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ebbf7c40c30f6d8ba9618aa8bbe44c4bcf538bc5f758e07c2141808437c632ea +size 4410402 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0026.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0026.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1ccd01e813b1f2b67f91390ba6aba5ea81614c90 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0026.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9b75caef6110f0bd799234c894c2114c90e83af2b07a1f5e414e679990064686 +size 3920154 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0027.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0027.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3e5ad7e24e34bb1ef3d00e14a8e91a2f1cb42c05 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0027.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:45907f94d55f3a3a14880bcc6ef66f1328ca8e507cb68c3e721766bdab04247d +size 4317824 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0028.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0028.h5 new file mode 100644 index 0000000000000000000000000000000000000000..33ba5a62425045490ab1fc6e9c86acbeea76c320 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0028.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:59d1dcb839d030e1d2f6da3ed7bff167f1a6b3aae0591542c00d584b28e5895d +size 5853384 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0029.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0029.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4417421e981231962805b0f2aaebc9abd22279bd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0029.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ecf251eadadd1abaf1f346c754c0d00c0c69be41b515e39de623c4389a003d83 +size 4276618 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0030.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0030.h5 new file mode 100644 index 0000000000000000000000000000000000000000..87d146242fc2269c1a697903811099a3c09bbfda --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0030.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bf92c1578f45b3712f56af0247e8c8fb800d7f895bc882537a28d459cb499f7c +size 4949135 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0031.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0031.h5 new file mode 100644 index 0000000000000000000000000000000000000000..72d5125dab9ba5f608a7a4eee27be16caef54244 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0031.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aa3636cca396a74a2b848746d5c0bbe59623ec0d1460ae9412b959f5f08aa31c +size 4410709 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0032.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0032.h5 new file mode 100644 index 0000000000000000000000000000000000000000..17cf199324072a9400e66a0a52f88ad4c7ea90fd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0032.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:66072cf867b2d8720346181d380ded87254ded376f203857b2133226b1c75ce2 +size 5066678 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0033.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0033.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cb51cc363e86423f7a020cc1a1658459066e40ed --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0033.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f868c1058c86e91fc0df1e272e363667323fbf2cb75d82f2fa7a292fa1768494 +size 4951565 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0034.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0034.h5 new file mode 100644 index 0000000000000000000000000000000000000000..729fc93a5b6ea9d45a731b9397c4cdf2a96948ff --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0034.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e8f11d7f6ca11949815e76ea3c2e44067ae4972554888842b1a3d9a9ba7a4c44 +size 4451601 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0035.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0035.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d9a5ffad41f1250d6977b10fac56dbd05ee05c05 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0035.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f852e220ed1b137c9d838285a57527aa7bbbf2a63ffa397a5784e3224f5b13fb +size 4414054 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0036.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0036.h5 new file mode 100644 index 0000000000000000000000000000000000000000..39ac8936c22845957493e02f5e43d2c54eda2dd4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0036.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:15ceb52a6d87623425ddb6bbf16d49569cf112b8df9ddc5c2505c207f6de8fdc +size 4915834 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0037.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0037.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e6f2c1dfa5fd5f0d0bbaf7d7f0b32f739171f5dd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0037.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2db0fbac9d11bd0fade1cd22e7cf92855b371619fb9e1fed66e9542ccf5442b2 +size 4309473 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0038.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0038.h5 new file mode 100644 index 0000000000000000000000000000000000000000..dd820ebe11c26128b181907a64bc300a889b6e29 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0038.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ef5e7b4e5d9e8ee8ce8af608d9537806f6ac7c26910a841e983ad80bdea0cbac +size 6095295 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0039.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0039.h5 new file mode 100644 index 0000000000000000000000000000000000000000..65ebedeca7a61fcad31a8a7c715718d50c9ec6ed --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0039.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:92879c611e4c85b5df8a1a2b2a3f7e307d252d871fbfa7c5cfdef1f5949d6d50 +size 5082459 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0040.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0040.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7b3e8eb655f73208e8ca1e66204efd49606da49d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0040.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fbfeb55d2c8813cbc084dd7940afb9b3cf9beb48e99ae587b9535daf126557f6 +size 4529337 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0041.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0041.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fa1d3a7c7fc07d795af58a79f9670ba29a2d077f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0041.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c237d892c9c2bd075ff6ec52f1048f165b5d49fe353d051f006dd08a5b13af72 +size 4835557 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0042.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0042.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b6b1db0de8c387fe20ec4ce0483a85c85ecc792c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0042.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:666ce8592241c0cc91f54aa51073468f017a538402c4380bf40812cf7a430433 +size 6188731 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0043.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0043.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e74a2a0e9aa7e3495d7f1ad782d8ecd3837bf784 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0043.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:69501f4e55a29b336e1b742fd932c473693250e9d7030d994e0aff2a2422e8ce +size 5266522 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0044.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0044.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3420723512c0678c955d307b2f89231c05c267b1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0044.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:45ecd54d5df269f59b520ee1ffd15fd24130fa0f650d3336b3dd19f39f747c97 +size 6459847 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0045.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0045.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2d3f4073ce1e5a00400935485efca17fcc021fac --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0045.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d3b7221d6415880eb9556c5b9bea5109f83e1e6c522fa2e084fe6ecd0dfde071 +size 4938554 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0046.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0046.h5 new file mode 100644 index 0000000000000000000000000000000000000000..940b3c8764b849fd26036225d503ee96b4c3589f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0046.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:035eb69d0fd0e9136fc81c1119420b9f211b650a9ce4b275fb30eb33f72066e8 +size 5179249 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0047.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0047.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5026743a25e38d4d769a2e251c750c8709a788e8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0047.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1c83b394df042eee9371f126192823619e72b6adfab9167d2831ebe5023d7899 +size 3896878 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0048.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0048.h5 new file mode 100644 index 0000000000000000000000000000000000000000..feaf0c51569c1c7995bc019d2f639d3288dea60e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0048.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8574b8204bba0d216e9bcfc380ae3bf01435a4c42d2a72cf85861d278f0a95e6 +size 4629866 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0049.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0049.h5 new file mode 100644 index 0000000000000000000000000000000000000000..114c9b105a1f38a0e92bb3802059d1a2452043a4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0049.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9ead951e6edd187c9529f6f4973ce5678633b8955c4d3f772df62782020daace +size 4082222 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0050.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0050.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3e2ea72612579bfc1d4054a8d9000d1bf86145c5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0050.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ba4019ef492ac44b3c2121d73cf3abdc1c7d30f15c70649ccc3aabc1e415aff8 +size 5554218 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0051.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0051.h5 new file mode 100644 index 0000000000000000000000000000000000000000..15231e82ec2dc848be316dc4bef341fc1cfa55bc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0051.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b615ec42e1a62d84bd5e690f3e1cb63f37d0fd48c17e311cddc52e05f05af600 +size 4037732 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0052.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0052.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a3f934364b66e83604f69bb7e90dd7e0bf961df9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0052.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:97ff4c4256cec5ea475506c39db48365705836ebf1b2fd1f7a6ceb897c21bcd0 +size 4457560 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0053.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0053.h5 new file mode 100644 index 0000000000000000000000000000000000000000..39a352877db51f2e75d773266bd0d2d739e20c1e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0053.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9b51d7d4c7e4e8b5bbaf557becdfebc2f64b4528d9a6e578b89a5a0324e6f251 +size 6047276 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0054.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0054.h5 new file mode 100644 index 0000000000000000000000000000000000000000..aebf56a6289c70f5f8035499723614daf35c6c78 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0054.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9ecaa4442511e1e9537cff224835a4b744ef83a5bbb1b3fa708c0c6d26047cc7 +size 4722691 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0055.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0055.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bce39732c39bce23e5d96cb71f9fcf23eef95561 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0055.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aa10fb5394beafcb71a44750112c36e1e77de47d482ec46362fdb5793fcfd4a9 +size 3937515 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0056.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0056.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c7c50325fa1225873924c91fe9f163c0899d52e4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0056.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9ff575e5b3660cc0e5e516b6bcad39a6840d1f048b45d3629075e1a07bf5b3b2 +size 5761581 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0057.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0057.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8aecc3a4ab7ceedbd973e6b5fa02ff334559efc0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0057.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:63adae2b546a8d3a42ea6e81512542baf10f9745ac36a24b20930c89da3c9c7a +size 4870111 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0058.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0058.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cf20c8b4b597a8ca412607442b965cb73d9743d0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0058.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:024caedad84558ada1a077651030ddff443fcdcfae89f16766f774546c8d9e08 +size 3986166 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0059.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0059.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2ba890a582021d49999a7b511eb28a44df2d39e7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0059.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e61a2f649c2a1e3a42f7d9e70f07eecf2a9d66b37a5a1066090eed7e097a0a89 +size 4145080 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0060.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0060.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6400cd1f9829a2212b56871f6c49b9d34d10ae66 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0060.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:38caea3bb1a3596a94bd7f22c180455dbd186b7efc5ebea08f383af50f43844b +size 4748856 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0061.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0061.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f5df4f232aae9cfbb3f34d590564f32ac1f7cdde --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0061.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:043a7b02ed02022a984d9ae1ceb06028c616995c680f3700f4a183471dc7e728 +size 4394369 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0062.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0062.h5 new file mode 100644 index 0000000000000000000000000000000000000000..42c4c72f8abf82663cea9503d73a569372629c30 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0062.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:36cd52e004faf28a81060ba35b4737753ee9a96de7ee18f70f2751b332c2f440 +size 3959467 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0063.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0063.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a343a7ed883949d13a1f5d67d773cc043aa4b07f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0063.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:39456a8ec1bdd28ff930a01917baffff14147aaf802cf1342f1b5fc1ecf6159b +size 5841593 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0064.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0064.h5 new file mode 100644 index 0000000000000000000000000000000000000000..59239192485ad4d08f51cec952ae7f473297c37d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0064.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b5fc29d92eae4b26fe4cd766ea856bbe2dbf816f1a421086f3d7e1fdfc6ed1f1 +size 4447551 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0065.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0065.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5e162444e4876b13f9c506908beb0ff6d261498a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0065.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:08ea4c1351b1c854334d7ce6a33f325cd4b22f19fe305f187eab531996cc8d1c +size 4325175 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0066.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0066.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7d751046b45978fd234fd31771ef866aca8be7c2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0066.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2dbcb5b29e1a801b69c62f65b758405aeced75f08774d53504f438a211b88b5c +size 5985816 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0067.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0067.h5 new file mode 100644 index 0000000000000000000000000000000000000000..33d8ebccd4baab2081c957ec808af3baa9524db7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0067.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cacc15bd280808f8d22c8f8cad2ac16971d9a607f268a90a165e6ef1db40c055 +size 4352392 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0068.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0068.h5 new file mode 100644 index 0000000000000000000000000000000000000000..53234974dbbceef5417344a1c8b566c273e43ca9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0068.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:02b02e49051b091c3162dbeff9fe2b7833cd58cb432f01f8178a723c904a9594 +size 5809740 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0069.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0069.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b29af640ec4cce659e7066cec5787838cbc1b7a9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0069.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8ae3714f67d49aecf04740a488ec9ea6ca87664f0f6acf1112845a702242f1d3 +size 7599002 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0070.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0070.h5 new file mode 100644 index 0000000000000000000000000000000000000000..de2c45cd17c83659490cfb2c1385cf683195fe4c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0070.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2b9ef34e21bea196a3723bcce7370c52166d68d63b7cb9a39fdea65345e2b011 +size 4479535 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0071.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0071.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4f8813bec3d137b4aca73f183e6a8e0dbf1673d8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0071.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5f50c43ca95597e73a8e92b8ff9a82e930c07d491d2acc3b35dc764fe8420ed8 +size 4294407 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0072.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0072.h5 new file mode 100644 index 0000000000000000000000000000000000000000..af3d87224411218ae0152a0ecb5d5dbe096ae6bd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0072.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d8e40900b1bfe4e4fdd6f4ad3afa869b37bab6be364858d313c541e0dd3937ac +size 5132502 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0073.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0073.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c3def804b16666ddfb9274753939330f9d652ade --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0073.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:70402cc51d285b9a5e4320f06bbb0e4b8dff36853a7567d51632d53e73bccfd3 +size 5566947 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0074.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0074.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2c8d702457eb647ddba91f7d1005270cfc5b2908 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0074.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:611a1be6146adb512889708091627b0231c942477a541d4daec7ffad406ff0f4 +size 5235630 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0075.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0075.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c566a587a912100b6e160cecc75eec6d974534fa --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0075.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0876c99d02f25d239b55a275033421190a1405db72c18c687ebd8a0d7c6c6994 +size 5154375 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0076.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0076.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1f3e0a8499e73bf725b53c19632f2b095edd5457 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0076.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:163913b9e2d47115062d5a53b01b4a9a72ac3fe05e989bc1ddb8d32def6fa879 +size 4385316 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0077.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0077.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c82164060821ede1d4670ba9200bf25cdf09b827 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0077.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:83ffab19754e04c54954d5d826ca4ce82ac2e563e8253dbfdcbe2c8c22442b99 +size 4876687 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0078.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0078.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7d5a6a54894d5a41033bfd64bc1a43f972182062 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0078.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:03da6bfb69615fe1d1ef079eeadc16fbe1ed1374cb24e96d57289e2f845fd400 +size 4541501 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0079.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0079.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7a5ea6c0b8052e6f45c01af3dc3914523d3a8ef2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0079.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7857a2a907a5032eae1e21acba2e1a7e63d403f02e8e79edea75d16e0d383241 +size 4310159 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0080.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0080.h5 new file mode 100644 index 0000000000000000000000000000000000000000..72f4dc33bff1e22591e3e14f8468dd29de84c89f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0080.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cc4c5938c01d36f8e492fcfda07ca61442a485b70f6edd26978025e1899c945f +size 4251633 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0081.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0081.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fbbb7b01df0fa903b6bd12ac030948b678c406ed --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0081.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:12b961c0a843b90925e60c9969469507c36fe47378f0317eb1768042f494f2a9 +size 5132858 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0082.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0082.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c08b9b80862f66d8bf0e02f226d9b8e915658f91 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0082.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bf61cb6f838831cd3a0a1dc0889b03380f0b360b73c8231379a01fdc21945873 +size 4875952 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0083.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0083.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b0a00e501839f61960d72cf9d1e51408e2ff14c2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0083.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6ab55cbf1efca7d8eef0fc0d88a8a8bb1b91af087ee4ff94744c83f29606d867 +size 4617191 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0084.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0084.h5 new file mode 100644 index 0000000000000000000000000000000000000000..201d5646552fac11838311382ae7360291961c60 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0084.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4144d1a93e2103bf3ff48606e94c9422732e074e6f8d089709c1b95375a67cf9 +size 5710062 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0085.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0085.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bdd6b014a4d0310dbd62741c952b952c14e01598 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0085.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b98a36ce86f648e441aa97dd1f009eadbb5a35c10583bf82435e8ac5ac978338 +size 5823659 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0086.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0086.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6752ed3e2bff50814a194a2b75fed884b5c056db --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0086.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d551b9c86fc738db2f2df8ac8d6434d6de0f52e646369b57c6c2eea38c6faa3c +size 5085490 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0087.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0087.h5 new file mode 100644 index 0000000000000000000000000000000000000000..32062dfad75e975dfdf3b298d3f44067328536e4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0087.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:615c332a66194ab98c85f866b159d19cf2f719b829b673172da854abe5c2ba84 +size 5652081 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0088.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0088.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1f0ddee9a4c3e6a893ef51e103de872f2cc62f96 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0088.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:52d5caf43057b3a2f877f6d76a6b9afe6e1f78103264217c49b19f1b72e10786 +size 4744944 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0089.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0089.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e2ecde35c8f7d30ad7387cde4cc930960e85eb4f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0089.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2a5cf2d972e34a169e79bb093d59caca2258c1210d8779bd9346d8fbdcb1b9d0 +size 5589501 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0090.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0090.h5 new file mode 100644 index 0000000000000000000000000000000000000000..60458f926daaabadbdbf8184cf6f46a0015d4f35 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0090.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e455f4b8918f2d2463ef737b3320bba98375e1ce758eef0a8a6b76f58450b56d +size 4268561 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0091.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0091.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b2f177bc57f6682f3d732100b86152b0985aeb20 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0091.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6c03ead42b319edeefddbbe5f17982b50ab6cca24103c965316a0b4b48950cab +size 4029590 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0092.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0092.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d75bdfd13d0e7612ee435537bea143339a18949b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0092.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6eb67b74df5ad2b59845cef31b5c9e2d21da54898eecaccce3984775bbd52d49 +size 4533327 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0093.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0093.h5 new file mode 100644 index 0000000000000000000000000000000000000000..57255028fe6e37949fdd2d4c6cf7f4f56fd748d8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0093.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a09e04fbc94ac12157348da0f74d026161d18239ce2cff8073a026f4d384e7b4 +size 6455596 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0094.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0094.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8cc4de7a0d9a48854e9adf5382f3f8f79187be1a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0094.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:30e51ba7ede29013a3e95987b376a53c56cf25fd2e9363584c93b8cd0c8b2929 +size 5640864 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0095.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0095.h5 new file mode 100644 index 0000000000000000000000000000000000000000..16e6553cab4373ca88bb22d75176b26399101135 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0095.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b054294ee79b7431a25ff6f87491ad8bdbc8249c1c539a74963daa98518c37a8 +size 4365400 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0096.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0096.h5 new file mode 100644 index 0000000000000000000000000000000000000000..22a6e7ea7a5f1911b164fcef088db95e0c74b42d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0096.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f5f3a04f2d49604f4eef3f2dbcab3af441ddcef42e33ab54011cffa44784e977 +size 7443725 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0097.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0097.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e7d636c165fc29efcb75f72c740b591b27fdb844 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0097.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b10cc6cc5ed08268d37ad02fc17f67263e5fa7e682382835d3bff442cbac1123 +size 5918154 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0098.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0098.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4960e2b72d906c0abd58788aa18062e3ca04b6fe --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0098.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f4c35ab7e623a169fd369f46517f26713b4c8db366310b161b9b68d42c5dde09 +size 4206161 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0099.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0099.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9b6a9fba53343d064ab09afa9f1cbd9c08f0157e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0099.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:138bfbb2e7ea407b02e4cb2070acbb038573d0fa3f8c923a14a1bfab5f764ff1 +size 5610709 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/meta/episode.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/meta/episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..584040280cff3b1c184cd1c753103b119997307e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/meta/episode.jsonl @@ -0,0 +1,100 @@ +{"episode_index":0,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":894,"success":true,"robot_type":"ur5e"} +{"episode_index":1,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":889,"success":true,"robot_type":"ur5e"} +{"episode_index":2,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":892,"success":true,"robot_type":"ur5e"} +{"episode_index":3,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"} +{"episode_index":4,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":897,"success":true,"robot_type":"ur5e"} +{"episode_index":5,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":896,"success":true,"robot_type":"ur5e"} +{"episode_index":6,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":888,"success":true,"robot_type":"ur5e"} +{"episode_index":7,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":886,"success":true,"robot_type":"ur5e"} +{"episode_index":8,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":889,"success":true,"robot_type":"ur5e"} +{"episode_index":9,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":888,"success":true,"robot_type":"ur5e"} +{"episode_index":10,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":889,"success":true,"robot_type":"ur5e"} +{"episode_index":11,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":891,"success":true,"robot_type":"ur5e"} +{"episode_index":12,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"} +{"episode_index":13,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":895,"success":true,"robot_type":"ur5e"} +{"episode_index":14,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":894,"success":true,"robot_type":"ur5e"} +{"episode_index":15,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"} +{"episode_index":16,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":891,"success":true,"robot_type":"ur5e"} +{"episode_index":17,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":894,"success":true,"robot_type":"ur5e"} +{"episode_index":18,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":896,"success":true,"robot_type":"ur5e"} +{"episode_index":19,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"} +{"episode_index":20,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":889,"success":true,"robot_type":"ur5e"} +{"episode_index":21,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"} +{"episode_index":22,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":892,"success":true,"robot_type":"ur5e"} +{"episode_index":23,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":890,"success":true,"robot_type":"ur5e"} +{"episode_index":24,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":892,"success":true,"robot_type":"ur5e"} +{"episode_index":25,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":894,"success":true,"robot_type":"ur5e"} +{"episode_index":26,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":891,"success":true,"robot_type":"ur5e"} +{"episode_index":27,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":889,"success":true,"robot_type":"ur5e"} +{"episode_index":28,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"} +{"episode_index":29,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":891,"success":true,"robot_type":"ur5e"} +{"episode_index":30,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":894,"success":true,"robot_type":"ur5e"} +{"episode_index":31,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"} +{"episode_index":32,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":894,"success":true,"robot_type":"ur5e"} +{"episode_index":33,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":898,"success":true,"robot_type":"ur5e"} +{"episode_index":34,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":894,"success":true,"robot_type":"ur5e"} +{"episode_index":35,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":895,"success":true,"robot_type":"ur5e"} +{"episode_index":36,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":891,"success":true,"robot_type":"ur5e"} +{"episode_index":37,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":895,"success":true,"robot_type":"ur5e"} +{"episode_index":38,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":896,"success":true,"robot_type":"ur5e"} +{"episode_index":39,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":896,"success":true,"robot_type":"ur5e"} +{"episode_index":40,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":892,"success":true,"robot_type":"ur5e"} +{"episode_index":41,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":898,"success":true,"robot_type":"ur5e"} +{"episode_index":42,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"} +{"episode_index":43,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":892,"success":true,"robot_type":"ur5e"} +{"episode_index":44,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":894,"success":true,"robot_type":"ur5e"} +{"episode_index":45,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":890,"success":true,"robot_type":"ur5e"} +{"episode_index":46,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":897,"success":true,"robot_type":"ur5e"} +{"episode_index":47,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":891,"success":true,"robot_type":"ur5e"} +{"episode_index":48,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":892,"success":true,"robot_type":"ur5e"} +{"episode_index":49,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":891,"success":true,"robot_type":"ur5e"} +{"episode_index":50,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":890,"success":true,"robot_type":"ur5e"} +{"episode_index":51,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":889,"success":true,"robot_type":"ur5e"} +{"episode_index":52,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"} +{"episode_index":53,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":890,"success":true,"robot_type":"ur5e"} +{"episode_index":54,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":892,"success":true,"robot_type":"ur5e"} +{"episode_index":55,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":891,"success":true,"robot_type":"ur5e"} +{"episode_index":56,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"} +{"episode_index":57,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"} +{"episode_index":58,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":892,"success":true,"robot_type":"ur5e"} +{"episode_index":59,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":886,"success":true,"robot_type":"ur5e"} +{"episode_index":60,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":897,"success":true,"robot_type":"ur5e"} +{"episode_index":61,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"} +{"episode_index":62,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":888,"success":true,"robot_type":"ur5e"} +{"episode_index":63,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"} +{"episode_index":64,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":897,"success":true,"robot_type":"ur5e"} +{"episode_index":65,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"} +{"episode_index":66,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"} +{"episode_index":67,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":895,"success":true,"robot_type":"ur5e"} +{"episode_index":68,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":889,"success":true,"robot_type":"ur5e"} +{"episode_index":69,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":894,"success":true,"robot_type":"ur5e"} +{"episode_index":70,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":896,"success":true,"robot_type":"ur5e"} +{"episode_index":71,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":892,"success":true,"robot_type":"ur5e"} +{"episode_index":72,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":896,"success":true,"robot_type":"ur5e"} +{"episode_index":73,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"} +{"episode_index":74,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":895,"success":true,"robot_type":"ur5e"} +{"episode_index":75,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":896,"success":true,"robot_type":"ur5e"} +{"episode_index":76,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":898,"success":true,"robot_type":"ur5e"} +{"episode_index":77,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":892,"success":true,"robot_type":"ur5e"} +{"episode_index":78,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":894,"success":true,"robot_type":"ur5e"} +{"episode_index":79,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":894,"success":true,"robot_type":"ur5e"} +{"episode_index":80,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":894,"success":true,"robot_type":"ur5e"} +{"episode_index":81,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":894,"success":true,"robot_type":"ur5e"} +{"episode_index":82,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":896,"success":true,"robot_type":"ur5e"} +{"episode_index":83,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":897,"success":true,"robot_type":"ur5e"} +{"episode_index":84,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":894,"success":true,"robot_type":"ur5e"} +{"episode_index":85,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":892,"success":true,"robot_type":"ur5e"} +{"episode_index":86,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":895,"success":true,"robot_type":"ur5e"} +{"episode_index":87,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":890,"success":true,"robot_type":"ur5e"} +{"episode_index":88,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":895,"success":true,"robot_type":"ur5e"} +{"episode_index":89,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":890,"success":true,"robot_type":"ur5e"} +{"episode_index":90,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":892,"success":true,"robot_type":"ur5e"} +{"episode_index":91,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":892,"success":true,"robot_type":"ur5e"} +{"episode_index":92,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":896,"success":true,"robot_type":"ur5e"} +{"episode_index":93,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":890,"success":true,"robot_type":"ur5e"} +{"episode_index":94,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":895,"success":true,"robot_type":"ur5e"} +{"episode_index":95,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"} +{"episode_index":96,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":889,"success":true,"robot_type":"ur5e"} +{"episode_index":97,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":892,"success":true,"robot_type":"ur5e"} +{"episode_index":98,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":891,"success":true,"robot_type":"ur5e"} +{"episode_index":99,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":898,"success":true,"robot_type":"ur5e"} diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/meta/randomization_episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c49496ec8c504a9c27452f347aa1ff13e58a4f5a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/meta/randomization_episodes.jsonl @@ -0,0 +1,100 @@ +{"episode_id":"ep_000000","started_at":"2026-09-03T23:53:50","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_0","position":[-0.18939853713685995,-1.1289712625520978,0.71338606911949],"aabb_xy":[[-0.25939854052842193,-1.1642870362555287],[-0.11939853374529798,-1.093655488848667]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_1","position":[0.3597946690256677,1.0421754171667832,0.71338606911949],"aabb_xy":[[0.3422946687663311,1.0280838749780106],[0.3772946692850044,1.0562669593555558]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_2","position":[0.22035332766185134,-1.1551706954117331,0.71338606911949],"aabb_xy":[[0.18589084964876354,-1.1618343725946556],[0.2548158056749391,-1.1485070182288102]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_3","position":[-0.4084937071846723,-0.6911588458956532,0.71338606911949],"aabb_xy":[[-0.44349370549536776,-0.6988738608191989],[-0.37349370887397687,-0.6834438309721076]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_4","position":[0.5236286485208292,-1.1321228831920802,0.71338606911949],"aabb_xy":[[0.4861286499452084,-1.144859178855638],[0.5611286470964499,-1.119386587528522]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_5","position":[0.08089754682849437,1.4217567697742433,0.71338606911949],"aabb_xy":[[-0.00910245684842381,1.3603243631971385],[0.17089755050541253,1.4831891763513472]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_6","position":[-0.16268985890728394,0.6851486038503238,0.71338606911949],"aabb_xy":[[-0.2426898560668592,0.6736010028925066],[-0.08268986174770862,0.6966962048081407]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_7","position":[0.06458531481020247,-0.6707996941202528,0.71338606911949],"aabb_xy":[[0.030269037635584528,-0.7207996940934305],[0.0989015919848204,-0.620799694147075]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_8","position":[-0.4828164423881532,-0.9053041008301683,0.71338606911949],"aabb_xy":[[-0.5052812123595583,-0.9278041017090288],[-0.46035167241674807,-0.8828040999513078]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_9","position":[0.3202479534591467,1.2215415148117743,0.71338606911949],"aabb_xy":[[0.31154999116843146,1.2094165405042996],[0.32894591574986204,1.233666489119249]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_10","position":[0.012208954798230698,-1.358817718094116,0.71338606911949],"aabb_xy":[[-0.029039856231684036,-1.4138177176063331],[0.053457765828145425,-1.3038177185818982]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_11","position":[0.18895768390656464,-0.9099378152815507,0.71338606911949],"aabb_xy":[[0.12395768280062139,-0.9349031883496791],[0.2539576850125079,-0.8849724422134225]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_12","position":[-0.1767929453083511,-0.8230389926937549,0.71338606911949],"aabb_xy":[[-0.19023947194239443,-0.8365088443468461],[-0.16334641867430777,-0.8095691410406637]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_13","position":[0.0837551711892407,1.133395372474289,0.71338606911949],"aabb_xy":[[0.0608394583041908,1.1104910753378654],[0.10667088407429061,1.1562996696107124]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_14","position":[-0.17739813816942573,-2.0697857257148935,0.71338606911949],"aabb_xy":[[-0.2273931491288778,-2.1197857247504857],[-0.1274031272099737,-2.0197857266793022]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_15","position":[0.3052305215797888,0.7500498199878782,0.71338606911949],"aabb_xy":[[0.26819641215172907,0.7156726126541687],[0.34226463100784854,0.7844270273215875]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_16","position":[-0.4958111240366489,0.11299043329427683,0.71338606911949],"aabb_xy":[[-0.5295866832273419,0.0989519380811118],[-0.46203556484595587,0.12702892850744185]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_17","position":[0.13176339783723212,-2.062354576886669,0.71338606911949],"aabb_xy":[[0.09426339632160038,-2.0735813499028137],[0.1692633993528638,-2.0511278038705236]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_18","position":[0.17827823847571267,-2.48026169877986,0.71338606911949],"aabb_xy":[[0.16737246238814996,-2.560261695178689],[0.18918401456327538,-2.4002617023810306]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_19","position":[-0.02039751828643932,0.9139205074982666,0.71338606911949],"aabb_xy":[[-0.0903975146964011,0.8934825718465846],[0.04960247812352247,0.9343584431499481]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_20","position":[-0.6248819100844168,-1.6011573105585515,0.71338606911949],"aabb_xy":[[-0.6289600679914666,-1.6052382908068148],[-0.620803752177367,-1.5970763303102882]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_21","position":[0.5457676929523949,-1.9659188787279422,0.71338606911949],"aabb_xy":[[0.5207676934006564,-1.976061362593077],[0.5707676925041334,-1.9557763948628075]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_22","position":[0.44747098528956597,-1.732154158340761,0.71338606911949],"aabb_xy":[[0.43570279849490856,-1.8171541582459825],[0.4592391720842236,-1.6471541584355394]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_23","position":[-0.3749380142164549,-0.3994965708229281,0.71338606911949],"aabb_xy":[[-0.41770472109587503,-0.46349657424473056],[-0.33217130733703465,-0.33549656740112566]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_24","position":[0.5505379294621866,1.5405484802105414,0.71338606911949],"aabb_xy":[[0.5055379279959579,1.4955486233490611],[0.5955379309284156,1.5855483370720227]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_25","position":[-0.33601085983079776,-1.8858542349643481,0.71338606911949],"aabb_xy":[[-0.4256979361389132,-1.9758542352187987],[-0.2463237835226823,-1.7958542347098976]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_26","position":[-0.10789813029128881,1.6380987393691169,0.71338606911949],"aabb_xy":[[-0.15789813131042407,1.6016325236312896],[-0.05789812927215354,1.6745649551069455]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_27","position":[-0.24835624761737696,-1.6487020857877477,0.71338606911949],"aabb_xy":[[-0.28937419100374784,-1.698702086418705],[-0.20733830423100608,-1.5987020851567904]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_28","position":[0.13170189455543968,0.8624738010858928,0.71338606911949],"aabb_xy":[[0.09420189444984674,0.8556516392329115],[0.16920189466103264,0.8692959629388738]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_29","position":[-0.2835176190759295,1.0663539073447024,0.71338606911949],"aabb_xy":[[-0.33851083041306623,1.011353907005909],[-0.22852440773879273,1.1213539076834962]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_30","position":[0.5188334208368901,1.324965868032788,0.71338606911949],"aabb_xy":[[0.43883342387385094,1.2478902263890146],[0.5988334177999293,1.4020415096765615]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_31","position":[0.3809077588323464,-0.782896569950013,0.71338606911949],"aabb_xy":[[0.36954602417906024,-0.794265036356301],[0.39226949348563256,-0.7715281035437248]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6858926090667582,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6174.png","name":"6174"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6174.png","name":"6174"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1239.png","name":"1239"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9489.png","name":"9489"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1802.png","name":"1802"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1462.png","name":"1462"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":648.1024459006128,"rotation_z_degrees":2.7186894589993527,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01817443775725017,-0.009600055856983003,0.01138579871829554]},{"name":"camera_2","offset_m":[-0.004217703961814898,0.00020407824825607532,-0.007535877813295318]},{"name":"camera_3","offset_m":[0.018506609377795812,0.0168958476974156,0.00418010463203624]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007827853188887874,0.000416041423248767,-0.0007437849448072127],"end_effector_yaw_offset_degrees":-0.07006422766914988},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008446981197528917,0.0014848869871241042,-0.00043857956199029277],"end_effector_yaw_offset_degrees":-0.4835049793568138},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008126948874488593,0.0009442170100238149,0.0010279037356839874],"end_effector_yaw_offset_degrees":0.31511312587821316}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0001738859976383603,0.004552700432086959],"position_m":[0.3539261140023617,-0.07944729956791305,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004649919747731892,0.00218275510963444],"position_m":[0.2792499197477319,-0.32811724489036553,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003632400977630317,0.002364740729554578],"position_m":[0.16433240097763033,0.2165647407295546,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002923349227713009,0.001451958339131804],"position_m":[0.341176650772287,0.1166519583391318,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7a4ff0ec110591bc078303f9ed8d5f799f2859e3da380b1d48dc7f1692e45351","episode_index":0,"episode_name":"episode_0000"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0000.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_6174/tex_ceiling_textures_1462/tex_floor_textures_1802/tex_table_textures_1239/tex_wall_textures_9489","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":5176821798487996575,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":5176821798487996575,"visual_seed":5176821798487996575,"scene_id":"lab_003","finished_at":"2026-09-03T23:56:32"} +{"episode_id":"ep_000001","started_at":"2026-09-03T23:56:36","dimensions":{"distractor":{"count":27,"items":[{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_0","position":[0.5279625636657916,0.9425333837455492,0.71338606911949],"aabb_xy":[[0.46796256341439046,0.8882520587090843],[0.5879625639171928,0.9968147087820136]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_1","position":[0.24667240250552624,-0.6162598980074419,0.71338606911949],"aabb_xy":[[0.18267240521987757,-0.6577666169602858],[0.3106723997911749,-0.5747531790545979]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_2","position":[-0.14632177644767208,-2.4769690759667005,0.71338606911949],"aabb_xy":[[-0.19632177746680737,-2.513435291704529],[-0.09632177542853682,-2.440502860228873]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_3","position":[0.595232179126242,-1.3324593300723655,0.71338606911949],"aabb_xy":[[0.5913183059308196,-1.3412083454789225],[0.5991460523216645,-1.323710314665809]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_4","position":[-0.35491375003202147,0.2545098368811214,0.71338606911949],"aabb_xy":[[-0.43491374801280647,0.2469082959192694],[-0.27491375205123636,0.2621113778429733]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_5","position":[0.2680430104623237,-2.338653439481215,0.71338606911949],"aabb_xy":[[0.20404301403500186,-2.3858230633033117],[0.33204300688964566,-2.291483815659119]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_6","position":[0.004292450415704696,-1.9674347476530154,0.71338606911949],"aabb_xy":[[-0.0037509095102504775,-2.052434748748382],[0.01233581034165987,-1.882434746557649]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_7","position":[0.503770310224229,-1.475150466001206,0.71338606911949],"aabb_xy":[[0.43977031311212333,-1.5241828357956166],[0.5677703073363347,-1.4261180962067954]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_8","position":[-0.09294383495272085,-0.7282388190371463,0.71338606911949],"aabb_xy":[[-0.09898084795338559,-0.7342655201060944],[-0.08690682195205612,-0.722212117968198]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_9","position":[0.2767367400276096,1.0246313243636664,0.71338606911949],"aabb_xy":[[0.22674172906815765,0.974631325328075],[0.3267317509870617,1.0746313233992584]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_10","position":[-0.21366843921654222,-1.1267146512592154,0.71338606911949],"aabb_xy":[[-0.2776684378031147,-1.173721614658724],[-0.14966844062996973,-1.0797076878597065]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_11","position":[0.20991578138766975,-1.716620434224941,0.71338606911949],"aabb_xy":[[0.14591578112719894,-1.761629233577869],[0.27391578164814057,-1.671611634872013]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_12","position":[-0.37023404172976937,-1.9608740968308007,0.71338606911949],"aabb_xy":[[-0.39269881170117443,-1.9833740977096612],[-0.3477692717583642,-1.9383740959519402]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_13","position":[0.4758256139737811,-2.48502027822754,0.71338606911949],"aabb_xy":[[0.41582561412721436,-2.541838900420579],[0.5358256138203479,-2.4282016560345014]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_14","position":[-0.292445200108351,0.5857885905129327,0.71338606911949],"aabb_xy":[[-0.35744520110885153,0.5350022253582579],[-0.2274451991078505,0.6365749556676078]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_15","position":[0.2937807674198122,1.728444174092021,0.71338606911949],"aabb_xy":[[0.2587807682898566,1.7226989530163568],[0.3287807665497679,1.734189395167685]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_16","position":[-0.5593842595464724,0.637506780111071,0.71338606911949],"aabb_xy":[[-0.596884260211051,0.6218197221108486],[-0.5218842588818936,0.653193838111293]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_17","position":[0.3110323169458715,-2.087184929839644,0.71338606911949],"aabb_xy":[[0.2981604134449314,-2.16718493025348],[0.32390422044681166,-2.0071849294258075]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_18","position":[0.7140578086612379,1.0269710524044804,0.71338606911949],"aabb_xy":[[0.7091585163546743,0.9992941331019116],[0.7189571009678013,1.0546479717070492]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_19","position":[-0.11416024934737012,-0.9506930364429254,0.71338606911949],"aabb_xy":[[-0.15166024969559788,-0.962484432024009],[-0.07666024899914235,-0.9389016408618419]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_20","position":[0.611678460179863,-2.119993098305307,0.71338606911949],"aabb_xy":[[0.57417845899507,-2.124411321001367],[0.6491784613646556,-2.115574875609246]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_21","position":[-0.349469474342431,-1.7571329771479558,0.71338606911949],"aabb_xy":[[-0.37995372446946113,-1.8071329769294515],[-0.3189852242154008,-1.7071329773664596]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_22","position":[-0.02267738221525417,1.5965008110594199,0.71338606911949],"aabb_xy":[[-0.05952793015224178,1.5590008102363864],[0.014173165721733438,1.6340008118824538]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_23","position":[0.6189087474499189,-1.1589203777350432,0.71338606911949],"aabb_xy":[[0.5877618286063356,-1.2289203764218504],[0.6500556662935019,-1.088920379048236]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_24","position":[-0.5226057091655402,-1.803119378751834,0.71338606911949],"aabb_xy":[[-0.5320231837354028,-1.8125355558895528],[-0.5131882345956773,-1.7937032016141148]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_25","position":[0.1012569219323014,-1.2023321996442893,0.71338606911949],"aabb_xy":[[0.05125692064846144,-1.2523110540349112],[0.15125692321614137,-1.152353345253667]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_26","position":[-0.11616387429301422,-1.5256370628573241,0.71338606911949],"aabb_xy":[[-0.13383950488161256,-1.5433172791367267],[-0.09848824370441589,-1.5079568465779212]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6863468684760199,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3653.png","name":"3653"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3653.png","name":"3653"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2649.png","name":"2649"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/230.png","name":"230"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8692.png","name":"8692"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3783.png","name":"3783"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":512.0397095885965,"rotation_z_degrees":239.34847862706968,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011308844515782627,0.0011703629457485917,0.011624995776940868]},{"name":"camera_2","offset_m":[-0.006200209766668277,0.011101642699814875,0.0022015826962315556]},{"name":"camera_3","offset_m":[0.017410260801430242,-0.005600143001060079,0.0021159090206032474]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0005831069213548998,0.0013919729352253598,-0.0013319765637919744],"end_effector_yaw_offset_degrees":-0.871385962958142},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005794587229649519,0.001850473752082245,0.0006338142809780372],"end_effector_yaw_offset_degrees":0.05177345345010376},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006211656061452576,0.0016357345260873618,0.0001905215467822765],"end_effector_yaw_offset_degrees":0.9887877497290336}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001134361849838397,0.0034346222752789464],"position_m":[0.3552343618498384,-0.08056537772472105,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002080990710566038,-0.0034247336865667896],"position_m":[0.27668099071056607,-0.3337247336865668,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0007514267258862681,-0.0018225741798410387],"position_m":[0.15994857327411374,0.21237742582015895,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0033164335086011097,0.004335432689855413],"position_m":[0.3407835664913989,0.1195354326898554,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"11084bba93a5b05f2f7ed5014b55e11aec4eafe35ff60b46f5856da9bb29355e","episode_index":1,"episode_name":"episode_0001"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0001.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_3653/tex_ceiling_textures_3783/tex_floor_textures_8692/tex_table_textures_2649/tex_wall_textures_230","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":6081007217525335337,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":6081007217525335337,"visual_seed":6081007217525335337,"scene_id":"lab_003","finished_at":"2026-09-03T23:59:41"} +{"episode_id":"ep_000002","started_at":"2026-09-03T23:59:44","dimensions":{"distractor":{"count":34,"items":[{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_0","position":[0.49796743622325357,-2.434149590299544,0.71338606911949],"aabb_xy":[[0.46350508882511166,-2.468643472697366],[0.5324297836213951,-2.3996557079017204]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_1","position":[0.4333070435622235,0.9909965684680575,0.71338606911949],"aabb_xy":[[0.42015579759093424,0.9659965687113711],[0.44645828953351296,1.015996568224744]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_2","position":[-0.654536089853804,-0.333192300156838,0.71338606911949],"aabb_xy":[[-0.6915701992818637,-0.3675695074905474],[-0.6175019804257442,-0.29881509282312846]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_3","position":[-0.339482523491299,-2.1880971509761067,0.71338606911949],"aabb_xy":[[-0.3673275602719061,-2.218881649714418],[-0.31163748671069186,-2.1573126522377946]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_4","position":[0.1412006448958466,1.6259170030015722,0.71338606911949],"aabb_xy":[[0.07720064463537578,1.5809082036486442],[0.2052006451563174,1.6709258023545002]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_5","position":[0.6214085490177612,-0.07017043826043867,0.71338606911949],"aabb_xy":[[0.5414085487441541,-0.1431199860861554],[0.7014085492913681,0.002779109565278034]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_6","position":[0.5982085405233997,-0.4500104306288044,0.71338606911949],"aabb_xy":[[0.5762998583840485,-0.47191109744889514],[0.6201172226627506,-0.4281097638087137]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_7","position":[-0.25857554492289403,-2.3963865929055927,0.71338606911949],"aabb_xy":[[-0.3225755468352364,-2.4522977421636036],[-0.19457554301055174,-2.3404754436475828]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_8","position":[-0.1879205941767983,-0.102192803368792,0.71338606911949],"aabb_xy":[[-0.2379137062859902,-0.15219280404298763],[-0.1379274820676064,-0.05219280269459636]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_9","position":[0.3583303498536632,0.5765336679468582,0.71338606911949],"aabb_xy":[[0.35348675509243327,0.5716820154678741],[0.3631739446148932,0.5813853204258423]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_10","position":[-0.07469943143890878,0.4822289881838886,0.71338606911949],"aabb_xy":[[-0.09828455490280363,0.4172289859384568],[-0.05111430797501393,0.5472289904293204]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_11","position":[0.456598565257764,-2.1117962203673093,0.71338606911949],"aabb_xy":[[0.4340848734343068,-2.1817962209683164],[0.4791122570812212,-2.0417962197663013]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_12","position":[0.5698990409244251,0.5996779926279032,0.71338606911949],"aabb_xy":[[0.5227696619225893,0.535677991583501],[0.6170284199262607,0.663677993672305]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_13","position":[-0.14240438422050616,1.506289626447359,0.71338606911949],"aabb_xy":[[-0.18370892728424212,1.442289626879242],[-0.10109984115677015,1.5702896260154762]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_14","position":[0.32302104233040385,1.3919132966101757,0.71338606911949],"aabb_xy":[[0.23929881683032134,1.30191329307548],[0.40674326783048625,1.4819133001448719]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_15","position":[-0.5880200179661695,0.14156888628866504,0.71338606911949],"aabb_xy":[[-0.652015715361266,0.07756888798795636],[-0.5240243205710728,0.20556888458937372]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_16","position":[-0.03751843843369884,-1.54909745141014,0.71338606911949],"aabb_xy":[[-0.07251843978518056,-1.5694571873669612],[-0.002518437082217106,-1.5287377154533195]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_17","position":[-0.4181440084550649,-2.3769663175186575,0.71338606911949],"aabb_xy":[[-0.4406440079787723,-2.3994622649692783],[-0.3956440089313575,-2.3544703700680367]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_18","position":[0.5985151132896491,1.1796997640323492,0.71338606911949],"aabb_xy":[[0.5610151124976537,1.173331923074159],[0.6360151140816446,1.1860676049905394]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_19","position":[0.14051836093824377,-0.7808995366399627,0.71338606911949],"aabb_xy":[[0.13707768469818662,-0.7847609696143274],[0.14395903717830097,-0.7770381036655984]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_20","position":[-0.6509672847810184,1.3863193423159488,0.71338606911949],"aabb_xy":[[-0.6590036194823031,1.3782812230115318],[-0.6429309500797334,1.3943574616203653]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_21","position":[-0.5374550904617453,-1.660773948002378,0.71338606911949],"aabb_xy":[[-0.6024550914622459,-1.711560313157053],[-0.4724550894612448,-1.609987582847703]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_22","position":[-0.1043220989465724,0.7327024064678427,0.71338606911949],"aabb_xy":[[-0.14081791957385115,0.6962184640410851],[-0.06782627831929365,0.7691863488946002]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_23","position":[0.5220297088805754,1.264493357673075,0.71338606911949],"aabb_xy":[[0.45202970727829583,1.2510605644714174],[0.5920297104828548,1.2779261508747326]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_24","position":[0.26179431018944643,-2.2893648101187525,0.71338606911949],"aabb_xy":[[0.19779430697080858,-2.336087922017761],[0.3257943134080843,-2.242641698219744]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_25","position":[0.17726944912064768,-2.4297623969887403,0.71338606911949],"aabb_xy":[[0.13872375629544664,-2.468308168044929],[0.21581514194584872,-2.3912166259325516]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_26","position":[0.6325293632670108,-1.6675898859697804,0.71338606911949],"aabb_xy":[[0.5824318992859373,-1.7315898864795922],[0.6826268272480845,-1.6035898854599686]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_27","position":[-0.6054505713701225,0.492940251365626,0.71338606911949],"aabb_xy":[[-0.6429505711871559,0.4883020400544842],[-0.5679505715530888,0.49757846267676786]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_28","position":[0.4150012743783589,0.8342176190154635,0.71338606911949],"aabb_xy":[[0.377501275802738,0.8214813233519056],[0.4525012729539796,0.8469539146790215]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_29","position":[-0.4187443142640563,-1.8905574517191912,0.71338606911949],"aabb_xy":[[-0.48274431496752573,-1.9365758341921124],[-0.354744313560587,-1.8445390692462704]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_30","position":[0.24121838347134628,-0.9695213171553179,0.71338606911949],"aabb_xy":[[0.2221060761133674,-0.98865609603256],[0.26033069082932514,-0.950386538278076]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_31","position":[-0.6128700959549384,-1.8696204075638267,0.71338606911949],"aabb_xy":[[-0.6428617586888086,-1.8996204069006273],[-0.5828784332210679,-1.8396204082270262]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_32","position":[0.4441405053230649,-1.2708528810178223,0.71338606911949],"aabb_xy":[[0.38414050472704875,-1.3256653535630456],[0.5041405059190811,-1.2160404084725986]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_33","position":[0.3142107512606469,-1.1975601897570076,0.71338606911949],"aabb_xy":[[0.28969712716364104,-1.221824783059044],[0.33872437535765276,-1.1732955964549712]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6846014131049508,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1635.png","name":"1635"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1635.png","name":"1635"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7339.png","name":"7339"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4230.png","name":"4230"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5835.png","name":"5835"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8710.png","name":"8710"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":573.8912765349966,"rotation_z_degrees":136.34168498431475,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010434476390447225,-0.010941534357499965,0.007116617846371492]},{"name":"camera_2","offset_m":[-0.01523875130245126,-0.014362509168884884,-0.01264495971825602]},{"name":"camera_3","offset_m":[-0.009824465285054642,-0.008070106906614005,-0.011860094551765447]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00017130243042275117,-0.00039516241274854206,0.0018692693738756685],"end_effector_yaw_offset_degrees":-0.3880202620478952},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.000578639724977394,0.0005225589783518477,0.0007649110070224114],"end_effector_yaw_offset_degrees":-0.12967855635205594},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00031800883839014707,0.000602479585909949,-0.0016966671274876344],"end_effector_yaw_offset_degrees":0.2493365555233522}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0013486417532250165,-0.0036058310263479753],"position_m":[0.35544864175322505,-0.08760583102634797,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0003760130547629777,-0.0028988524905607816],"position_m":[0.274976013054763,-0.33319885249056075,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004402352156483813,-2.191068705622093e-05],"position_m":[0.16510235215648383,0.21417808931294377,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0018684019532123506,-0.002709378072431933],"position_m":[0.34223159804678766,0.11249062192756806,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0a0d3251c13ae58e42db2ee861a2ec70b5b14f7f8c5ddc9699fd2eebee20a781","episode_index":2,"episode_name":"episode_0002"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0002.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_1635/tex_ceiling_textures_8710/tex_floor_textures_5835/tex_table_textures_7339/tex_wall_textures_4230","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":4714551895382359730,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":4714551895382359730,"visual_seed":4714551895382359730,"scene_id":"lab_003","finished_at":"2026-09-04T00:02:51"} +{"episode_id":"ep_000003","started_at":"2026-09-04T00:02:54","dimensions":{"distractor":{"count":28,"items":[{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_0","position":[0.6787416046221777,1.0849522146100115,0.71338606911949],"aabb_xy":[[0.6671726238752412,1.05995221449308],[0.6903105853691144,1.1099522147269434]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_1","position":[-0.2757873621481026,-0.6500644803707529,0.71338606911949],"aabb_xy":[[-0.31078736045879807,-0.6577794952942985],[-0.24078736383740718,-0.6423494654472072]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_2","position":[0.49866344050611144,-0.5776442027938633,0.71338606911949],"aabb_xy":[[0.48825188182562773,-0.5829899361297618],[0.5090749991865952,-0.5722984694579648]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_3","position":[-0.6377203991356087,-1.9646426415541658,0.71338606911949],"aabb_xy":[[-0.6528832721125458,-1.9798080988492848],[-0.6225575261586717,-1.9494771842590473]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_4","position":[0.4001578982140559,1.5479118065935604,0.71338606911949],"aabb_xy":[[0.34015789796265467,1.4936304815570955],[0.460157898465457,1.6021931316300249]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_5","position":[0.06182751349352411,1.2969049543474522,0.71338606911949],"aabb_xy":[[0.02805195430283114,1.2828664591342873],[0.09560307268421708,1.3109434495606171]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_6","position":[-0.49057724222714105,1.7519052951144913,0.71338606911949],"aabb_xy":[[-0.5130772420410434,1.7474306787440104],[-0.46807724241323867,1.7563799114849719]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_7","position":[-0.2976654282161154,-1.8488124505208121,0.71338606911949],"aabb_xy":[[-0.320165428728156,-1.8713043088862102],[-0.2751654277040748,-1.8263205921554135]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_8","position":[0.5417506594352139,-1.9391048921040275,0.71338606911949],"aabb_xy":[[0.4777506591747432,-1.9841136914569555],[0.6057506596956848,-1.8940960927510995]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_9","position":[-0.4019848999200478,-1.986593102616796,0.71338606911949],"aabb_xy":[[-0.4331318187636309,-2.056593101303603],[-0.37083798107646465,-1.916593103929989]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_10","position":[0.5807892844796232,-2.14585594791587,0.71338606911949],"aabb_xy":[[0.5754517088136186,-2.17085594884501],[0.5861268601456278,-2.1208559469867305]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_11","position":[-0.43054464103510115,1.4212781558665015,0.71338606911949],"aabb_xy":[[-0.494544644253739,1.3745550439674932],[-0.3665446378164633,1.4680012677655099]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_12","position":[0.5593815985869481,0.5776094618630276,0.71338606911949],"aabb_xy":[[0.5467548112997517,0.5680633881614546],[0.5720083858741444,0.5871555355646004]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_13","position":[-0.01775046910496858,0.3023020793145146,0.71338606911949],"aabb_xy":[[-0.023845096993086904,0.29373268476284586],[-0.011655841216850264,0.3108714738661833]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_14","position":[-0.16807726097235398,-2.410052589098398,0.71338606911949],"aabb_xy":[[-0.1789830370599167,-2.490052585497227],[-0.15717148488479127,-2.3300525926995688]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_15","position":[-0.4984880431587724,0.7365630807522265,0.71338606911949],"aabb_xy":[[-0.5334880414288923,0.7294889530572383],[-0.4634880448886525,0.7436372084472146]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_16","position":[0.2461011274289473,-1.654877265033961,0.71338606911949],"aabb_xy":[[0.15610113092807554,-1.7007889074524192],[0.33610112392981906,-1.6089656226155027]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_17","position":[0.5230865560724443,-0.7862073673087013,0.71338606911949],"aabb_xy":[[0.5056558409934376,-0.8034794819725519],[0.5405172711514507,-0.7689352526448503]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_18","position":[0.02649482536415315,1.022976742550544,0.71338606911949],"aabb_xy":[[-0.06350517435902102,0.9999033900153641],[0.11649482508732732,1.0460500950857237]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_19","position":[-0.6114279611299007,-2.3683223968208305,0.71338606911949],"aabb_xy":[[-0.6489279614220754,-2.372363872221434],[-0.5739279608377258,-2.3642809214202267]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_20","position":[0.006815740589982022,0.6943511431085905,0.71338606911949],"aabb_xy":[[-0.013242671023258268,0.6742860561994329],[0.026874152203222312,0.714416230017748]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_21","position":[-0.434861669149357,-0.23756559659290888,0.71338606911949],"aabb_xy":[[-0.43981768933423826,-0.2600655967950305],[-0.4299056489644759,-0.2150655963907873]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_22","position":[0.25804470508712984,-2.4507713499647132,0.71338606911949],"aabb_xy":[[0.2493467427964146,-2.462896324272188],[0.2667426673778452,-2.4386463756572385]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_23","position":[0.4091595301394042,-0.39716857217453905,0.71338606911949],"aabb_xy":[[0.3866595298958888,-0.409373206834311],[0.4316595303829196,-0.3849639375147671]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_24","position":[0.26138935570130817,-2.0721807116156628,0.71338606911949],"aabb_xy":[[0.2572734055892355,-2.076296266648508],[0.26550530581338083,-2.0680651565828168]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_25","position":[0.18484248014656612,0.8189559469438326,0.71338606911949],"aabb_xy":[[0.11484247750997975,0.7988510819479671],[0.25484248278315247,0.8390608119396981]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_26","position":[0.09386906614967516,-1.3666174757062002,0.71338606911949],"aabb_xy":[[0.06886906698404205,-1.3735697214115568],[0.11886906531530828,-1.3596652300008436]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_27","position":[0.2429983970922167,-0.9298418723058954,0.71338606911949],"aabb_xy":[[0.17899840066489484,-0.977011496127992],[0.3069983935195386,-0.8826722484837991]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6825785203110896,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7162.png","name":"7162"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7162.png","name":"7162"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9864.png","name":"9864"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9771.png","name":"9771"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8586.png","name":"8586"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9774.png","name":"9774"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":756.7594688512058,"rotation_z_degrees":163.8083111555797,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015204895981305321,0.019078066891589713,-0.0132701586324053]},{"name":"camera_2","offset_m":[-0.0026399131197221808,0.010116153364341005,-0.010075456856585046]},{"name":"camera_3","offset_m":[-0.004928854028747992,0.011896453338875023,0.01592962766302217]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.000967677933685468,-0.0001518692451729451,0.001664339778179794],"end_effector_yaw_offset_degrees":-0.4426276734021213},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012382884199708126,-0.0006708522374678126,0.0017133620280314894],"end_effector_yaw_offset_degrees":0.5646021148949334},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015649297098175169,-0.0014371051883219962,-0.0018462983212786414],"end_effector_yaw_offset_degrees":-0.9436432093517755}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002416305379403175,-0.0010704786274795342],"position_m":[0.35168369462059684,-0.08507047862747955,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0027299423400084567,-0.004305920460823466],"position_m":[0.27187005765999156,-0.33460592046082344,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004272868424801014,0.0024872830272416454],"position_m":[0.156427131575199,0.21668728302724163,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0038854918543788095,0.00398407440762611],"position_m":[0.3479854918543788,0.1191840744076261,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a11ea375f9e960d2cb6950fc1f5ab42ded20f1b721a50a329368f79fa6b14fda","episode_index":3,"episode_name":"episode_0003"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0003.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_7162/tex_ceiling_textures_9774/tex_floor_textures_8586/tex_table_textures_9864/tex_wall_textures_9771","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":3126649383870653140,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":3126649383870653140,"visual_seed":3126649383870653140,"scene_id":"lab_003","finished_at":"2026-09-04T00:05:34"} +{"episode_id":"ep_000004","started_at":"2026-09-04T00:05:40","dimensions":{"distractor":{"count":21,"items":[{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_0","position":[-0.6347583775566231,-1.081738218468819,0.71338606911949],"aabb_xy":[[-0.6757763209429941,-1.1317382190997762],[-0.5937404341702524,-1.0317382178378616]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_1","position":[-0.04392267013177431,-2.1933146981333844,0.71338606911949],"aabb_xy":[[-0.10792266871834677,-2.240321661532893],[0.02007732845479815,-2.1463077347338757]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_2","position":[-0.6328905303209637,0.46084127373766703,0.71338606911949],"aabb_xy":[[-0.6829879943020373,0.3968412732278553],[-0.58279306633989,0.5248412742474788]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_3","position":[-0.15731166718250644,-0.9303214751306983,0.71338606911949],"aabb_xy":[[-0.20007837406192663,-0.9943214785525007],[-0.11454496030308625,-0.8663214717088958]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_4","position":[0.6112668552272895,0.5488161336549418,0.71338606911949],"aabb_xy":[[0.5766757723732442,0.48381613336991064],[0.6458579380813346,0.6138161339399727]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_5","position":[-0.16338563736619904,1.7325256901055703,0.71338606911949],"aabb_xy":[[-0.18048771532456723,1.7154188845743006],[-0.14628355940783092,1.74963249563684]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_6","position":[-0.5811126032963255,0.7905976699107065,0.71338606911949],"aabb_xy":[[-0.6186126036445532,0.7788062743296228],[-0.5436126029480977,0.8023890654917899]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_7","position":[-0.20527624670481642,0.08826389158100723,0.71338606911949],"aabb_xy":[[-0.23392557906523262,0.05961833230393142],[-0.17662691434440017,0.116909450858083]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_8","position":[-0.05797542447548287,-1.4250885854734907,0.71338606911949],"aabb_xy":[[-0.10797542575932281,-1.4750674398641126],[-0.007975423191642897,-1.3751097310828684]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_9","position":[0.5329588817278168,-2.425907910466926,0.71338606911949],"aabb_xy":[[0.4954588802121851,-2.4371346834830705],[0.5704588832434485,-2.4146811374507804]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_10","position":[-0.08709557669402024,-1.1830237931611538,0.71338606911949],"aabb_xy":[[-0.14222078232361102,-1.2430237946024407],[-0.031970371064429466,-1.1230237917198664]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_11","position":[-0.08963984175361417,1.3324090944378026,0.71338606911949],"aabb_xy":[[-0.09690108932402157,1.3196220841742932],[-0.08237859418320674,1.3451961047013121]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_12","position":[-0.6084626152935504,-0.45434992430889576,0.71338606911949],"aabb_xy":[[-0.6584356808260661,-0.5043499241214288],[-0.5584895497610352,-0.404349924496363]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_13","position":[-0.3744842383999081,-1.9865431130912854,0.71338606911949],"aabb_xy":[[-0.41198423958470076,-1.9909613357873457],[-0.33698423721511517,-1.9821248903952247]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_14","position":[0.3110033234801026,-0.9762448893160034,0.71338606911949],"aabb_xy":[[0.29337048788657505,-0.9938678353316264],[0.3286361590736302,-0.9586219433003804]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_15","position":[-0.08435321004736385,0.5380832852519211,0.71338606911949],"aabb_xy":[[-0.0944349171259373,0.4580832873598064],[-0.07427150296879034,0.6180832831440357]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_16","position":[-0.2981844218556289,-2.1306379030284712,0.71338606911949],"aabb_xy":[[-0.34766484306958767,-2.194637900941323],[-0.2487040006416701,-2.0666379051156194]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_17","position":[0.6427478237026709,-0.4681217349448321,0.71338606911949],"aabb_xy":[[0.623635516344692,-0.48725651382207413],[0.6618601310606498,-0.4489869560675901]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_18","position":[-0.00441704356826611,-2.4934157086662316,0.71338606911949],"aabb_xy":[[-0.02569505171173836,-2.5584157109923042],[0.01686096457520614,-2.428415706340158]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_19","position":[-0.39793685016886565,-0.9426981866228692,0.71338606911949],"aabb_xy":[[-0.4283349612680092,-0.9731050886245387],[-0.367538739069722,-0.9122912846211997]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_20","position":[-0.3177826853348024,-0.4926306759742958,0.71338606911949],"aabb_xy":[[-0.3676653822124986,-0.5426306752205705],[-0.2678999884571062,-0.4426306767280211]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6848799647795114,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3903.png","name":"3903"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3903.png","name":"3903"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5734.png","name":"5734"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2282.png","name":"2282"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3847.png","name":"3847"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5746.png","name":"5746"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":686.2026952827961,"rotation_z_degrees":209.9025530745252,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.001270542460920631,0.007849192554343284,0.008736955153441927]},{"name":"camera_2","offset_m":[0.0065195975473212806,0.015258598352289165,-0.014559393705612381]},{"name":"camera_3","offset_m":[-0.010748484442172157,-0.017715909606935955,-0.006131501354105784]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019429227465711536,-0.0004961677795883572,0.0009591499876706912],"end_effector_yaw_offset_degrees":0.029121996705250286},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008762846765455867,-0.0007359284130659107,0.000598186253402252],"end_effector_yaw_offset_degrees":0.050043688323810676},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00011968142698029591,-0.0008078466859769633,-1.6859161937401133e-05],"end_effector_yaw_offset_degrees":0.05979951997924582}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0003175426894362421,-0.0017132474481299366],"position_m":[0.35441754268943626,-0.08571324744812994,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00017028329227836494,-0.004447723878013441],"position_m":[0.27442971670772165,-0.33474772387801344,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00035594736193083655,0.0011117053886406962],"position_m":[0.16034405263806917,0.2153117053886407,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0008871344557537918,-0.004115863652125247],"position_m":[0.34321286554424624,0.11108413634787476,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"191b92ef845537113124de6e8b316b2a96ac8ae13f519ff93aef477283a8d6f1","episode_index":4,"episode_name":"episode_0004"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0004.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_3903/tex_ceiling_textures_5746/tex_floor_textures_3847/tex_table_textures_5734/tex_wall_textures_2282","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":370314911571430042,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":370314911571430042,"visual_seed":370314911571430042,"scene_id":"lab_003","finished_at":"2026-09-04T00:08:43"} +{"episode_id":"ep_000005","started_at":"2026-09-04T00:08:48","dimensions":{"distractor":{"count":30,"items":[{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_0","position":[0.10045382466401487,-0.796401489988712,0.71338606911949],"aabb_xy":[[0.050453825223819235,-0.8463694144730282],[0.1504538241042105,-0.7464335655043955]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_1","position":[-0.654535431038604,1.2663030295744337,0.71338606911949],"aabb_xy":[[-0.6646884465927533,1.2302334880016932],[-0.6443824154844545,1.3023725711471739]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_2","position":[-0.17747429158124794,-0.5733663735643693,0.71338606911949],"aabb_xy":[[-0.18934637459274906,-0.6583663732580197],[-0.16560220856974683,-0.488366373870719]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_3","position":[-0.4322632156929922,0.6923858719279088,0.71338606911949],"aabb_xy":[[-0.4496939307719987,0.675113757264058],[-0.4148325006139857,0.7096579865917596]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_4","position":[0.4055243613424553,1.4888752032624413,0.71338606911949],"aabb_xy":[[0.35553124923326346,1.4388752025882456],[0.4555174734516473,1.5388752039366371]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_5","position":[0.022871606650617715,1.3397975685250811,0.71338606911949],"aabb_xy":[[-0.027123226277323886,1.2897975696298376],[0.07286643957855932,1.3897975674203247]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_6","position":[-0.2324038650571172,-1.4940412465708908,0.71338606911949],"aabb_xy":[[-0.24032714529586555,-1.5165412468088943],[-0.22448058481836888,-1.4715412463328876]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_7","position":[-0.5726344465032052,-0.2834519230963819,0.71338606911949],"aabb_xy":[[-0.6031186966302353,-0.33345192287787784],[-0.542150196376175,-0.23345192331488596]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_8","position":[0.3643304764315143,-0.4266534000957769,0.71338606911949],"aabb_xy":[[0.3566272857574372,-0.43436277079451485],[0.37203366710559127,-0.41894402939703884]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_9","position":[0.45701900516062843,-1.3068459857499428,0.71338606911949],"aabb_xy":[[0.44525081836597097,-1.3918459856551644],[0.468787191955286,-1.2218459858447213]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_10","position":[-0.4334014642309399,-0.1935840533413331,0.71338606911949],"aabb_xy":[[-0.4833745297634554,-0.24358405315386603],[-0.3834283986984245,-0.14358405352880022]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_11","position":[0.269918338602433,0.8296065296259685,0.71338606911949],"aabb_xy":[[0.2524183383573836,0.8121067417864016],[0.28741833884748236,0.8471063174655353]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_12","position":[-0.4686884190876538,-1.1172230026909948,0.71338606911949],"aabb_xy":[[-0.5036884189836727,-1.1255972382029347],[-0.433688419191635,-1.108848767179055]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_13","position":[-0.5308729392217907,-1.1934285409583907,0.71338606911949],"aabb_xy":[[-0.5592026491703309,-1.197889283152108],[-0.5025432292732505,-1.1889677987646738]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_14","position":[0.500322767489616,1.2214380870539614,0.71338606911949],"aabb_xy":[[0.43632276722914526,1.1764292877010334],[0.5643227677500868,1.2664468864068894]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_15","position":[-0.2209892409745685,-1.3379866386971153,0.71338606911949],"aabb_xy":[[-0.30098924204768884,-1.3477646850344998],[-0.14098923990144818,-1.3282085923597309]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_16","position":[0.5652388809603688,-0.585832957019611,0.71338606911949],"aabb_xy":[[0.5012388817905988,-0.6325996441385735],[0.6292388801301387,-0.5390662699006485]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_17","position":[0.5533665488498378,1.7264832081491739,0.71338606911949],"aabb_xy":[[0.5105998419704177,1.6624832047273712],[0.5961332557292581,1.7904832115709761]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_18","position":[0.12925429984697778,1.521166061779272,0.71338606911949],"aabb_xy":[[0.09175429967510584,1.4884653263963648],[0.16675430001884972,1.5538667971621791]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_19","position":[-0.051909998291262305,-2.1475139862799213,0.71338606911949],"aabb_xy":[[-0.11591000051166933,-2.19188707040521],[0.012090003929144728,-2.1031409021546335]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_20","position":[0.4001480230584993,0.8564129491554024,0.71338606911949],"aabb_xy":[[0.38937504913713145,0.8214129509363634],[0.410920996979867,0.8914129473744413]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_21","position":[0.21503076400156462,-2.5035386613843302,0.71338606911949],"aabb_xy":[[0.12503076750069284,-2.549450303802788],[0.3050307605024363,-2.4576270189658715]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_22","position":[0.03130629220783099,-0.965853984123509,0.71338606911949],"aabb_xy":[[-0.023693706968758506,-1.0208436588984666],[0.08630629138442047,-0.9108643093485513]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_23","position":[0.2917559864713415,-1.8006794510122248,0.71338606911949],"aabb_xy":[[0.2688402735862916,-1.823583748148649],[0.3146716993563914,-1.777775153875802]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_24","position":[-0.6154599181592367,-1.5264201538072881,0.71338606911949],"aabb_xy":[[-0.6270288989061733,-1.5514201539242198],[-0.6038909374123002,-1.5014201536903564]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_25","position":[0.47552246953964583,1.608909119063068,0.71338606911949],"aabb_xy":[[0.4635897351778177,1.5965269662552086],[0.48745520390147384,1.6212912718709274]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_26","position":[0.6823891872518826,-2.1527889901828634,0.71338606911949],"aabb_xy":[[0.6545441504712755,-2.183573488921175],[0.7102342240324897,-2.1220044914445517]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_27","position":[-0.0027968807719461752,1.5145441687991528,0.71338606911949],"aabb_xy":[[-0.03276443768177184,1.484544168501267],[0.02717067613787949,1.5445441690970385]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_28","position":[-0.11258103151089072,1.7393403340462554,0.71338606911949],"aabb_xy":[[-0.17658103178486895,1.6892742338489675],[-0.048581031236912486,1.7894064342435434]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_29","position":[-0.5919449167302387,-1.2872671489283702,0.71338606911949],"aabb_xy":[[-0.6719449147110238,-1.294868689890222],[-0.5119449187494537,-1.279665607966518]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.680588816853229,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7542.png","name":"7542"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7542.png","name":"7542"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2830.png","name":"2830"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3105.png","name":"3105"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4836.png","name":"4836"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5330.png","name":"5330"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":823.5537157594379,"rotation_z_degrees":54.89246827412033,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01994147006763664,0.009152116018445452,0.014040949570987098]},{"name":"camera_2","offset_m":[0.018342562146476223,-0.009823027751716703,-0.019137248369217544]},{"name":"camera_3","offset_m":[0.00787291257321968,-0.01993073934897657,-0.0029249927967709734]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019328344470323005,0.001980082385966423,0.00022614893572213933],"end_effector_yaw_offset_degrees":0.6012307262648706},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008892168734864377,0.0017575693140628509,0.0005540095873768432],"end_effector_yaw_offset_degrees":-0.9119989104718347},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007073178497097631,-0.0005219347372201488,0.0019472989574708093],"end_effector_yaw_offset_degrees":-0.14428612335033808}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0019335034925350159,-0.002569728807371603],"position_m":[0.352166496507465,-0.08656972880737161,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0028786393310882607,-0.0004956931813967233],"position_m":[0.2717213606689117,-0.33079569318139673,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0011452807271312483,-0.0003659720975495587],"position_m":[0.15955471927286877,0.21383402790245043,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002935074853559261,-0.0036451371330173364],"position_m":[0.34116492514644076,0.11155486286698266,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4e828f7f549d6295c7795d0fc883aff3a077803da505acd2e9120ab00c7d0194","episode_index":5,"episode_name":"episode_0005"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0005.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_7542/tex_ceiling_textures_5330/tex_floor_textures_4836/tex_table_textures_2830/tex_wall_textures_3105","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":6031229279299909411,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":6031229279299909411,"visual_seed":6031229279299909411,"scene_id":"lab_003","finished_at":"2026-09-04T00:11:54"} +{"episode_id":"ep_000006","started_at":"2026-09-04T00:11:57","dimensions":{"distractor":{"count":22,"items":[{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_0","position":[0.46955777656703535,0.9990364335114541,0.71338606911949],"aabb_xy":[[0.4470930065956303,0.9765364326325937],[0.4920225465384405,1.0215364343903146]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_1","position":[0.6604153796981735,-0.2539633397463148,0.71338606911949],"aabb_xy":[[0.6544488407574378,-0.25992448440567884],[0.6663819186389093,-0.24800219508695076]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_2","position":[-0.3530888643777102,-1.2841042189908152,0.71338606911949],"aabb_xy":[[-0.4030888653968455,-1.3205704347286433],[-0.30308886335857493,-1.2476380032529875]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_3","position":[-0.2598611435044016,-0.545801660374186,0.71338606911949],"aabb_xy":[[-0.282361143318304,-0.5502762767446667],[-0.2373611436904992,-0.5413270440037052]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_4","position":[-0.27118989526590964,-2.108296228738486,0.71338606911949],"aabb_xy":[[-0.288689895510959,-2.1257960165780525],[-0.25368989502086026,-2.090796440898919]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_5","position":[0.49841641407038195,0.8206883824820226,0.71338606911949],"aabb_xy":[[0.4923794010697173,0.8146616814130745],[0.5044534270710468,0.8267150835509709]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_6","position":[0.6539686618084712,0.26743632490760394,0.71338606911949],"aabb_xy":[[0.6364686625303843,0.250098224841258],[0.671468661086558,0.2847744249739499]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_7","position":[0.45232206648210327,0.4094400871029791,0.71338606911949],"aabb_xy":[[0.4294063535970535,0.38653578996655563],[0.4752377793671533,0.43234438423940263]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_8","position":[0.547112964518556,-0.038143795405194414,0.71338606911949],"aabb_xy":[[0.4972961850537212,-0.08814379388949778],[0.5969297439833907,0.011856203079108951]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_9","position":[-0.3454716100614405,-2.2161595782310224,0.71338606911949],"aabb_xy":[[-0.370471609613179,-2.226302062096157],[-0.320471610509702,-2.2060170943658877]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_10","position":[-0.4128158768295111,-1.7825032426368468,0.71338606911949],"aabb_xy":[[-0.423656355056026,-1.7996895239274955],[-0.4019753986029962,-1.765316961346198]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_11","position":[-0.18289573891229627,-2.4937149751084187,0.71338606911949],"aabb_xy":[[-0.2628957421701392,-2.573711482900402],[-0.10289573565445329,-2.4137184673164342]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_12","position":[0.0804081847934035,1.404857722440564,0.71338606911949],"aabb_xy":[[0.045945837395261695,1.370363840042741],[0.11487053219154529,1.4393516048383863]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_13","position":[-0.1472073676711847,1.8164212798449522,0.71338606911949],"aabb_xy":[[-0.15598859481842095,1.8076415325564226],[-0.1384261405239485,1.825201027133483]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_14","position":[-0.030181882271223204,-1.182689812325996,0.71338606911949],"aabb_xy":[[-0.038175870848926596,-1.1906898924210862],[-0.022187893693519808,-1.1746897322309056]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_15","position":[0.5306317800827596,-1.6539677509686606,0.71338606911949],"aabb_xy":[[0.4706317794867434,-1.708780223513884],[0.5906317806787758,-1.599155278423437]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_16","position":[0.49574629787057356,-1.18929931830316,0.71338606911949],"aabb_xy":[[0.44077257583424073,-1.2442993178673931],[0.5507200199069064,-1.1342993187389268]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_17","position":[0.22572116992226843,-0.749234173674,0.71338606911949],"aabb_xy":[[0.18072858320381802,-0.7942341729484487],[0.27071375664071884,-0.7042341743995512]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_18","position":[-0.38302118994301704,-1.6662644708844319,0.71338606911949],"aabb_xy":[[-0.4480211885000899,-1.6960170042983147],[-0.3180211913859442,-1.6365119374705495]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_19","position":[-0.6460048777189601,-0.04161427296696596,0.71338606911949],"aabb_xy":[[-0.6833361542442027,-0.07626732776181827],[-0.6086736011937175,-0.006961218172113655]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_20","position":[-0.07218245991532024,0.775014375304516,0.71338606911949],"aabb_xy":[[-0.10809596434030991,0.7391008670877613],[-0.036268955490330546,0.8109278835212707]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_21","position":[-0.6035680727294209,-0.9466250035844797,0.71338606911949],"aabb_xy":[[-0.6271531961933158,-1.0116250058299114],[-0.5799829492655261,-0.8816250013390479]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6809884338072144,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/918.png","name":"918"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/918.png","name":"918"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9645.png","name":"9645"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5564.png","name":"5564"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/841.png","name":"841"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4843.png","name":"4843"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":730.8534302196432,"rotation_z_degrees":41.20068634676415,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011419378866007909,0.014327369825844916,0.0014295463537386567]},{"name":"camera_2","offset_m":[-0.003589834685046235,-0.019920113820644753,0.011953727194668227]},{"name":"camera_3","offset_m":[-0.0017342029052283409,-0.0096052086471356,-0.007974315924421523]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006079396323357632,-0.000700743429476061,0.0012514708322039938],"end_effector_yaw_offset_degrees":-0.9778376816765455},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009949855221291792,-0.0008417024323303405,3.579260477497813e-05],"end_effector_yaw_offset_degrees":-0.9549225268864183},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0004273317313807489,-0.0007253290314558928,0.0018590761085085662],"end_effector_yaw_offset_degrees":-0.55260878793428}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004677621228839094,0.004333062088471667],"position_m":[0.34942237877116095,-0.07966693791152833,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0010783971225052725,0.001932553430907558],"position_m":[0.2735216028774947,-0.32836744656909245,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0042692169186719755,0.0034718251779135246],"position_m":[0.15643078308132805,0.21767182517791353,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003461188995789486,-0.003023591827285406],"position_m":[0.3406388110042105,0.1121764081727146,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"172679a4c3a9ea50559b7ce82d0d7738c6daaf91170a28d64eaea5a2750c5b50","episode_index":6,"episode_name":"episode_0006"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0006.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_918/tex_ceiling_textures_4843/tex_floor_textures_841/tex_table_textures_9645/tex_wall_textures_5564","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":9175793917036887697,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":9175793917036887697,"visual_seed":9175793917036887697,"scene_id":"lab_003","finished_at":"2026-09-04T00:14:36"} +{"episode_id":"ep_000007","started_at":"2026-09-04T00:14:40","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_0","position":[-0.09890425143151016,-2.4810588424933315,0.71338606911949],"aabb_xy":[[-0.1629042533438525,-2.5369699917513424],[-0.03490424951916782,-2.4251476932353215]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_1","position":[-0.48778747181292936,-1.9291236857584575,0.71338606911949],"aabb_xy":[[-0.500254829922665,-1.9415890103917812],[-0.47532011370319377,-1.9166583611251342]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_2","position":[0.39926491514504003,-0.7539775849163508,0.71338606911949],"aabb_xy":[[0.3642649160150844,-0.7597228059920148],[0.4342649142749957,-0.7482323638406866]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_3","position":[0.5463123031093198,0.5885190017078514,0.71338606911949],"aabb_xy":[[0.49631230215878697,0.5569698547043299],[0.5963123040598526,0.6200681487113727]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_4","position":[-0.23359349843018912,1.696325577909787,0.71338606911949],"aabb_xy":[[-0.28359349800652384,1.6463449989576813],[-0.1835934988538544,1.7463061568618932]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_5","position":[0.5361985461899748,-0.035116143417386336,0.71338606911949],"aabb_xy":[[0.4909199313088256,-0.09911614276557001],[0.5814771610711241,0.028883855930797342]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_6","position":[0.500463571521927,-0.5619739549269913,0.71338606911949],"aabb_xy":[[0.42046356825791387,-0.5755339872359047],[0.5804635747859401,-0.548413922618078]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_7","position":[0.18551454770741505,-1.2370400740377627,0.71338606911949],"aabb_xy":[[0.13551454826721943,-1.2870079985220788],[0.23551454714761066,-1.1870721495534462]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_8","position":[0.6455194533399657,-2.4383232364428458,0.71338606911949],"aabb_xy":[[0.6273136296787181,-2.4493486370248374],[0.6637252770012134,-2.427297835860854]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_9","position":[-0.6050255354567815,0.2358238405822095,0.71338606911949],"aabb_xy":[[-0.6501968533049507,0.1718238434376711],[-0.5598542176086128,0.2998238377267479]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_10","position":[0.4171627143054131,1.37166592862555,0.71338606911949],"aabb_xy":[[0.38270036690727116,1.3371720462277268],[0.45162506170355476,1.4061598110233722]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_11","position":[-0.42971355306282166,-0.5352870242748695,0.71338606911949],"aabb_xy":[[-0.49371355017492735,-0.5843193940692801],[-0.365713555950716,-0.4862546544804589]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_12","position":[-0.06906315824005371,-1.9393140666262036,0.71338606911949],"aabb_xy":[[-0.15906316191697187,-2.000746473203308],[0.020936845436864467,-1.877881660049099]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_13","position":[-0.1675428822627033,1.3214558583676963,0.71338606911949],"aabb_xy":[[-0.18271505154433668,1.306287001439493],[-0.15237071298107,1.3366247152958997]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_14","position":[-0.08637141414751448,1.0032102472065247,0.71338606911949],"aabb_xy":[[-0.10764942229098672,0.9382102448804517],[-0.06509340600404222,1.0682102495325978]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_15","position":[-0.07240124195930697,-1.6215725401062389,0.71338606911949],"aabb_xy":[[-0.13640124517794483,-1.6682956520052472],[-0.008401238740669115,-1.5748494282072305]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_16","position":[0.19744118790309073,1.4376284776132695,0.71338606911949],"aabb_xy":[[0.1074411911674805,1.3844450142959748],[0.28744118463870094,1.4908119409305638]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_17","position":[0.47735212098273694,-1.9509483660033122,0.71338606911949],"aabb_xy":[[0.41235212094843415,-1.9976490426836393],[0.5423521210170397,-1.9042476893229847]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_18","position":[0.20410741424670764,-1.90619815312783,0.71338606911949],"aabb_xy":[[0.16660741358212894,-1.9218852111280522],[0.24160741491128634,-1.8905110951276078]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_19","position":[0.4954310258945116,0.301315746026388,0.71338606911949],"aabb_xy":[[0.43143102384477966,0.26122126293708003],[0.5594310279442436,0.34141022911569596]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_20","position":[0.13980996163748527,0.8909757841874355,0.71338606911949],"aabb_xy":[[0.08983689610496982,0.8409757843749028],[0.18978302717000078,0.9409757839999686]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_21","position":[-0.43410657058951596,-1.751805474092825,0.71338606911949],"aabb_xy":[[-0.47114068001757564,-1.7861826814265342],[-0.39707246116145617,-1.7174282667591154]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_22","position":[0.23716284405360177,1.2861869566362985,0.71338606911949],"aabb_xy":[[0.18716284369303565,1.2362069694266955],[0.28716284441416773,1.3361669438459014]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_23","position":[-0.5606854820043788,-2.125791400480707,0.71338606911949],"aabb_xy":[[-0.5965989864293685,-2.1617049086974616],[-0.5247719775793892,-2.089877892263952]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_24","position":[-0.43795992275105455,0.2197766138442545,0.71338606911949],"aabb_xy":[[-0.4498926571128826,0.20739446103639517],[-0.4260271883892265,0.2321587666521139]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_25","position":[-0.4554284808803795,1.473083253083416,0.71338606911949],"aabb_xy":[[-0.5204284787620272,1.4219595893768753],[-0.3904284829987318,1.5242069167899572]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_26","position":[0.5426487577342414,-2.210712118560213,0.71338606911949],"aabb_xy":[[0.5318082795077264,-2.227898399850862],[0.5534892359607562,-2.1935258372695645]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_27","position":[0.6650661030973462,0.1362506899537923,0.71338606911949],"aabb_xy":[[0.6307498259227282,0.08625068998061458],[0.6993823802719641,0.18625068992697003]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_28","position":[-0.07368742323656441,-1.2455694634581498,0.71338606911949],"aabb_xy":[[-0.14368742662812634,-1.2808852371615804],[-0.003687419845002412,-1.2102536897547187]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_29","position":[0.11107474679230023,0.7435220589483191,0.71338606911949],"aabb_xy":[[0.10345047870212201,0.7358888354117754],[0.1186990148824785,0.751155282484863]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_30","position":[0.3476645917241141,0.6377117639073706,0.71338606911949],"aabb_xy":[[0.3298710847891977,0.6199120183115728],[0.36545809865903056,0.6555115095031682]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_31","position":[-0.1774963704577095,-0.20526075265250876,0.71338606911949],"aabb_xy":[[-0.18295431609472956,-0.28526075596016787],[-0.17203842482068943,-0.12526074934484965]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_32","position":[-0.1531431778886041,-0.7766406725759492,0.71338606911949],"aabb_xy":[[-0.20312198639891998,-0.826640672581668],[-0.10316436937828821,-0.7266406725702304]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_33","position":[-0.059963432415969464,0.0283844116187546,0.71338606911949],"aabb_xy":[[-0.08354855587986432,-0.036615590626677186],[-0.03637830895207461,0.09338441386418639]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.685646571927108,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6994.png","name":"6994"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6994.png","name":"6994"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9855.png","name":"9855"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9309.png","name":"9309"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/555.png","name":"555"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3544.png","name":"3544"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":772.1960582539294,"rotation_z_degrees":179.47684119546284,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0030508643475321007,0.01475651455970264,-0.01508834828924456]},{"name":"camera_2","offset_m":[0.013631611318104617,0.009375965727223518,-0.007937660204875305]},{"name":"camera_3","offset_m":[-0.007079374373411173,0.006203561169148206,0.010021703278458395]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0016814091884174843,0.0015962784993199773,-0.0014029062080209616],"end_effector_yaw_offset_degrees":-0.9587124615128113},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008096795193805999,0.0006610773059875408,-0.0007975314853961497],"end_effector_yaw_offset_degrees":-0.4147853673195203},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014279730023907746,-0.00016110458783740573,-0.0016056149057636837],"end_effector_yaw_offset_degrees":0.15533208281770117}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002462986861224409,-0.004408802445736547],"position_m":[0.3516370131387756,-0.08840880244573655,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0013318664203678153,-0.003330639573145254],"position_m":[0.2759318664203678,-0.33363063957314526,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00017495958069094555,-0.004018577272670045],"position_m":[0.16052504041930907,0.21018142272732995,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003337615943140475,-0.0017022604960130173],"position_m":[0.3474376159431405,0.11349773950398698,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1259b06bbd17e242c19fc11bf2d32095c0c36dfc81c9819dd9d9eba1eb4daa65","episode_index":7,"episode_name":"episode_0007"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0007.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_6994/tex_ceiling_textures_3544/tex_floor_textures_555/tex_table_textures_9855/tex_wall_textures_9309","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":5238506859692946951,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":5238506859692946951,"visual_seed":5238506859692946951,"scene_id":"lab_003","finished_at":"2026-09-04T00:17:25"} +{"episode_id":"ep_000008","started_at":"2026-09-04T00:17:29","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_0","position":[-0.40241938180221415,1.7548289603191498,0.71338606911949],"aabb_xy":[[-0.4389152024294929,1.718345017892392],[-0.3659235611749354,1.7913129027459072]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_1","position":[-0.5587105329912107,-1.9404644616680478,0.71338606911949],"aabb_xy":[[-0.6087105339417433,-1.9720136086715692],[-0.5087105320406777,-1.9089153146645264]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_2","position":[-0.376381444311733,0.4419866622101134,0.71338606911949],"aabb_xy":[[-0.426374556420925,0.3919866615359178],[-0.32638833220254115,0.4919866628843091]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_3","position":[0.35978189944879113,-2.137462839641291,0.71338606911949],"aabb_xy":[[0.3097818981649511,-2.1874416940319126],[0.40978190073263104,-2.0874839852506684]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_4","position":[-0.08911676428612025,-0.802450714103933,0.71338606911949],"aabb_xy":[[-0.10661676342048741,-0.8123303411415208],[-0.07161676515175307,-0.7925710870663452]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_5","position":[0.7001395726830721,-0.09738629308337288,0.71338606911949],"aabb_xy":[[0.6892337965955094,-0.17738628948220203],[0.7110453487706349,-0.017386296684543723]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_6","position":[-0.5616794963449283,-2.116626396387191,0.71338606911949],"aabb_xy":[[-0.5991794966371032,-2.120667871787795],[-0.5241794960527536,-2.1125849209865875]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_7","position":[0.4764313201954091,-0.8974606149623092,0.71338606911949],"aabb_xy":[[0.4588846252792902,-0.9349606165265605],[0.49397801511152806,-0.859960613398058]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_8","position":[-0.586728882334216,1.5506311325058548,0.71338606911949],"aabb_xy":[[-0.6092288821481184,1.546156516135374],[-0.5642288825203137,1.5551057488763356]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_9","position":[-0.5595281748948957,-2.1906539142330166,0.71338606911949],"aabb_xy":[[-0.568226137185611,-2.2027788885404913],[-0.5508302126041804,-2.178528939925542]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_10","position":[0.5191059220776115,-0.6845781125270556,0.71338606911949],"aabb_xy":[[0.5039430491006744,-0.6997435698221743],[0.5342687950545486,-0.6694126552319368]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_11","position":[-0.36676920319039774,-0.8724995906568067,0.71338606911949],"aabb_xy":[[-0.4307691995859708,-0.9364628790755402],[-0.30276920679482466,-0.808536302238073]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_12","position":[0.17936240069577392,1.2081980962449697,0.71338606911949],"aabb_xy":[[0.1293849838305203,1.1581980947557209],[0.22933981756102748,1.258198097734218]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_13","position":[-0.04018485908298586,0.8977395199115823,0.71338606911949],"aabb_xy":[[-0.08546347396413512,0.8337395205633985],[0.005093755798163402,0.9617395192597659]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_14","position":[-0.1011863714525737,1.436482457052486,0.71338606911949],"aabb_xy":[[-0.13618637058252936,1.4307372359768216],[-0.06618637232261805,1.4422276781281498]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_15","position":[-0.4878783413674564,0.07078946624712579,0.71338606911949],"aabb_xy":[[-0.5678783416410633,-0.002160081578590919],[-0.4078783410938494,0.1437390140728425]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_16","position":[-0.007017251156735238,-2.123528172487654,0.71338606911949],"aabb_xy":[[-0.05701725217587052,-2.1599943882254817],[0.042982749862400034,-2.087061956749826]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_17","position":[-0.3506183259191612,1.3831737875470718,0.71338606911949],"aabb_xy":[[-0.36973063327714006,1.3640390086698297],[-0.33150601856118234,1.4023085664243138]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_18","position":[-0.3960461631993496,-1.4988570793361915,0.71338606911949],"aabb_xy":[[-0.4033284795760131,-1.5888570829457],[-0.3887638468226858,-1.408857075726682]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_19","position":[-0.15264433592327353,-0.539794434314472,0.71338606911949],"aabb_xy":[[-0.18764433581929238,-0.548168669826412],[-0.11764433602725465,-0.5314201988025321]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_20","position":[0.32235255786997485,1.4536373246381333,0.71338606911949],"aabb_xy":[[0.2971317210101351,1.4284135737852464],[0.3475733947298144,1.4788610754910199]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_21","position":[-0.34163074363067625,-0.6453249959092939,0.71338606911949],"aabb_xy":[[-0.37540630282136916,-0.659363491122459],[-0.3078551844399832,-0.6312865006961289]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_22","position":[0.513501264413577,-0.3951384338043309,0.71338606911949],"aabb_xy":[[0.47891018155953174,-0.4601384340893619],[0.5480923472676221,-0.3301384335192998]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_23","position":[-0.0036354316237061646,1.718076422330459,0.71338606911949],"aabb_xy":[[-0.08363543378646865,1.6381212387043154],[0.07636457053905632,1.7980316059566026]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_24","position":[-0.4693665318921022,1.2168114161580892,0.71338606911949],"aabb_xy":[[-0.5333665341125093,1.172438332032801],[-0.40536652967169523,1.2611845002833775]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6788067782618178,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2274.png","name":"2274"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2274.png","name":"2274"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5271.png","name":"5271"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5244.png","name":"5244"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1302.png","name":"1302"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4713.png","name":"4713"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":712.3429841002019,"rotation_z_degrees":303.98198436472103,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008536271292975047,-0.0010873411958484715,0.002648204821962371]},{"name":"camera_2","offset_m":[0.01463273324049046,0.007324211360447506,-0.009831513231901465]},{"name":"camera_3","offset_m":[0.005554520162154183,0.002149070221565807,0.016989756523770255]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008682069739474763,0.0002859125011040746,-0.0018940674720985982],"end_effector_yaw_offset_degrees":-0.6296744126645151},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001414766200476641,-0.0006049681333780864,-0.001735033729170735],"end_effector_yaw_offset_degrees":-0.8370236790736818},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016933217195142397,-0.0008280362611370422,0.0011778244356250357],"end_effector_yaw_offset_degrees":0.38853416997776336}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00011232064356768261,-0.003739223903991433],"position_m":[0.3539876793564323,-0.08773922390399144,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004126958935705263,0.0009267698251916381],"position_m":[0.27047304106429476,-0.32937323017480835,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0016695297047583414,0.004357624085831276],"position_m":[0.15903047029524167,0.21855762408583126,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004609304813011026,0.0003837225165898737],"position_m":[0.339490695186989,0.11558372251658987,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d9a97e1ace19e0f29b2b44d2eb70bb5b94e8422793088e1b3087a07c6f0a6a24","episode_index":8,"episode_name":"episode_0008"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0008.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_2274/tex_ceiling_textures_4713/tex_floor_textures_1302/tex_table_textures_5271/tex_wall_textures_5244","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":1748721537345664569,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":1748721537345664569,"visual_seed":1748721537345664569,"scene_id":"lab_003","finished_at":"2026-09-04T00:20:17"} +{"episode_id":"ep_000009","started_at":"2026-09-04T00:20:20","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_0","position":[-0.4036147740845231,-0.39612785536615913,0.71338606911949],"aabb_xy":[[-0.40965178708518796,-0.40215455643510745],[-0.3975777610838585,-0.39010115429721104]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_1","position":[-0.04216114041783048,1.5121009900668567,0.71338606911949],"aabb_xy":[[-0.09215615137728252,1.4621009910312652],[0.007833870541621548,1.5621009891024489]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_2","position":[0.08205425753434359,-1.0278017335296081,0.71338606911949],"aabb_xy":[[0.07715496522778008,-1.0554786528321767],[0.08695354984090707,-1.0001248142270391]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_3","position":[-0.3394407078883759,-1.81175784658824,0.71338606911949],"aabb_xy":[[-0.42444070630579905,-1.8966321420505248],[-0.2544407094709526,-1.7268835511259548]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_4","position":[-0.38068393353697455,-0.18871603913654766,0.71338606911949],"aabb_xy":[[-0.39826223572592134,-0.20629052871065257],[-0.36310563134802765,-0.17114154956244276]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_5","position":[-0.26698119602216663,-1.5842295370167927,0.71338606911949],"aabb_xy":[[-0.2751957411378505,-1.5929061273144338],[-0.25876665090648254,-1.5755529467191511]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_6","position":[-0.0024479587076574605,-0.7935938883375109,0.71338606911949],"aabb_xy":[[-0.05243219441583469,-0.8435938871510065],[0.04753627700051977,-0.7435938895240153]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_7","position":[0.2297814276334077,1.4077762671122822,0.71338606911949],"aabb_xy":[[0.2236867997452894,1.3992068725606135],[0.23587605552152605,1.416345661663951]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_8","position":[0.19274340766300835,-1.1653573404452369,0.71338606911949],"aabb_xy":[[0.1377511570274974,-1.2203573421885496],[0.24773565829851932,-1.110357338701924]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_9","position":[-0.22778823582162128,-1.0975117610180178,0.71338606911949],"aabb_xy":[[-0.2777882371825085,-1.1474896655934335],[-0.17778823446073408,-1.0475338564426022]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_10","position":[-0.39260142591310176,1.18503682148426,0.71338606911949],"aabb_xy":[[-0.4096115232031524,1.168902332985986],[-0.3755913286230511,1.2011713099825339]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_11","position":[0.1875378771536812,-2.1158643216593482,0.71338606911949],"aabb_xy":[[0.15003787680545339,-2.1276557172404313],[0.2250378775019089,-2.1040729260782642]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_12","position":[0.3809746971176007,1.232531554298776,0.71338606911949],"aabb_xy":[[0.3169746968436224,1.1824654541014878],[0.44497469739157886,1.2825976544960638]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_13","position":[0.20535600902217332,1.5609407695573432,0.71338606911949],"aabb_xy":[[0.192204763050884,1.5359407698006569],[0.2185072549934627,1.58594076931403]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_14","position":[0.050373362289677814,-1.5076646950056198,0.71338606911949],"aabb_xy":[[0.02537336235715993,-1.5145473632265432],[0.0753733622221957,-1.5007820267846965]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_15","position":[0.2979462999022806,-1.6225775013362287,0.71338606911949],"aabb_xy":[[0.23394629798993832,-1.6784886505942391],[0.361946301814623,-1.5666663520782182]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_16","position":[-0.1063966480360603,1.7755084063252462,0.71338606911949],"aabb_xy":[[-0.14372792456130293,1.7408553515303942],[-0.06906537151081768,1.8101614611200987]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_17","position":[-0.2748506326897974,0.7166127577499339,0.71338606911949],"aabb_xy":[[-0.2939629400477763,0.6974779788726919],[-0.25573832533181856,0.735747536627176]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_18","position":[0.5994432721267042,-0.804016781308289,0.71338606911949],"aabb_xy":[[0.5344432720924015,-0.8507174579886163],[0.664443272161007,-0.7573161046279617]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_19","position":[0.4980801003165951,-2.282423465028507,0.71338606911949],"aabb_xy":[[0.46245094441663537,-2.31805613178536],[0.5337092562165549,-2.246790798271654]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_20","position":[0.35410916503019196,-2.483541400134821,0.71338606911949],"aabb_xy":[[0.3166091638453991,-2.4879596228308807],[0.3916091662149847,-2.4791231774387597]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6779463309768899,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4083.png","name":"4083"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4083.png","name":"4083"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5189.png","name":"5189"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/134.png","name":"134"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1456.png","name":"1456"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2910.png","name":"2910"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":765.822179324615,"rotation_z_degrees":227.0312685841947,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00029887949157398133,0.017661989851644067,-0.009808422720148417]},{"name":"camera_2","offset_m":[0.018449568379215475,0.00238599581391679,0.01987324076442443]},{"name":"camera_3","offset_m":[0.01733634472324064,-0.012421386241184974,-0.007804129745834337]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009291844847865529,0.0007942856995894281,0.0019415840308738544],"end_effector_yaw_offset_degrees":-0.9277144576803795},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015717891423632309,0.00019217947813929617,0.0011869408569475867],"end_effector_yaw_offset_degrees":-0.9575872444049234},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001384520449878684,-0.0016129484485916637,-0.0002585304252230318],"end_effector_yaw_offset_degrees":-0.4717537347724887}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0032868815735999056,0.0003440235152544916],"position_m":[0.3508131184264001,-0.08365597648474551,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0032111065497532534,0.004368504512715441],"position_m":[0.27138889345024675,-0.32593149548728456,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0015378426090984741,-0.0016961172505565439],"position_m":[0.15916215739090153,0.21250388274944346,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0035208925390708213,-0.0021832034719379157],"position_m":[0.3405791074609292,0.11301679652806208,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ae9d0ac2b51b8a54dc3bdb3eb8df52553b409c52503e435f5c3dc7b08b74ce9c","episode_index":9,"episode_name":"episode_0009"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0009.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_4083/tex_ceiling_textures_2910/tex_floor_textures_1456/tex_table_textures_5189/tex_wall_textures_134","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":8596645957328348799,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":8596645957328348799,"visual_seed":8596645957328348799,"scene_id":"lab_003","finished_at":"2026-09-04T00:22:58"} +{"episode_id":"ep_000010","started_at":"2026-09-04T00:23:01","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_0","position":[-0.1948501643640792,-1.5641443829468074,0.71338606911949],"aabb_xy":[[-0.23235016554887197,-1.5685626056428676],[-0.15735016317928638,-1.5597261602507466]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_1","position":[0.4753139955194541,-0.7403361066245573,0.71338606911949],"aabb_xy":[[0.45281757408559,-0.7628361064313046],[0.4978104169533182,-0.7178361068178097]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_2","position":[-0.6182492922000149,-0.971896874121073,0.71338606911949],"aabb_xy":[[-0.6882492955915767,-1.0072126478245038],[-0.5482492888084527,-0.9365811004176421]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_3","position":[-0.11287390618670745,0.6517774592069281,0.71338606911949],"aabb_xy":[[-0.1373875302837133,0.6275128659048916],[-0.0883602820897016,0.6760420525089645]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_4","position":[-0.3877120985774985,0.11856937244599575,0.71338606911949],"aabb_xy":[[-0.39304967424350307,0.09356937151685597],[-0.38237452291149393,0.14356937337513553]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_5","position":[0.18073131329368164,-2.4407523018171178,0.71338606911949],"aabb_xy":[[0.15823131347977926,-2.4452269181875983],[0.20323131310758402,-2.4362776854466373]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_6","position":[-0.2353880287702521,0.2327808597869594,0.71338606911949],"aabb_xy":[[-0.2578880290137675,0.22057622512718744],[-0.21288802852673672,0.24498549444673134]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_7","position":[-0.39955104406697833,-1.2132029554372512,0.71338606911949],"aabb_xy":[[-0.46355104432744915,-1.2582117547901792],[-0.3355510438065075,-1.1681941560843232]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_8","position":[0.17123377925514582,-1.0612054278901066,0.71338606911949],"aabb_xy":[[0.10723377784715517,-1.1129943794140311],[0.2352337806631365,-1.0094164763661817]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_9","position":[0.5736829962666068,1.334555823495287,0.71338606911949],"aabb_xy":[[0.5458379594859997,1.3037713247569753],[0.6015280330472139,1.3653403222335987]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_10","position":[-0.24279727897518166,-0.1323470109173095,0.71338606911949],"aabb_xy":[[-0.29777100101151455,-0.18734701048154268],[-0.18782355693884878,-0.07734701135307631]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_11","position":[0.438138751303661,-1.0953211004499215,0.71338606911949],"aabb_xy":[[0.35813874914089844,-1.1752762840760649],[0.5181387534664235,-1.0153659168237776]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_12","position":[-0.369162145651735,1.2498453799097624,0.71338606911949],"aabb_xy":[[-0.3870312534061905,1.2360124719325511],[-0.3512930378972795,1.2636782878869732]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_13","position":[0.520531256971289,-0.5145236313799164,0.71338606911949],"aabb_xy":[[0.5061968318451254,-0.5265838469344553],[0.5348656820974523,-0.5024634158253776]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_14","position":[-0.6052416454931877,-1.4577550472624285,0.71338606911949],"aabb_xy":[[-0.6304624823530273,-1.482978798115315],[-0.5800208086333479,-1.4325312964095416]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_15","position":[0.032439253357067765,-1.3680290857869284,0.71338606911949],"aabb_xy":[[-0.0475607436059714,-1.4451047274307018],[0.11243925032010693,-1.290953444143155]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_16","position":[0.6315474812979587,0.3021274918073038,0.71338606911949],"aabb_xy":[[0.581450017316885,0.23812749129749194],[0.6816449452790322,0.36612749231711555]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_17","position":[-0.07702894674643324,-1.106270063697425,0.71338606911949],"aabb_xy":[[-0.08299548568716902,-1.1122312083567891],[-0.07106240780569745,-1.1003089190380608]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_18","position":[0.28775514416650727,-1.6806459637598217,0.71338606911949],"aabb_xy":[[0.28071483423297033,-1.760645963159493],[0.2947954541000443,-1.6006459643601503]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_19","position":[0.5487298528096358,-1.9003163911711036,0.71338606911949],"aabb_xy":[[0.5362624946999002,-1.9127817158044271],[0.5611972109193715,-1.8878510665377801]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_20","position":[0.6091779875741219,1.1494201956130277,0.71338606911949],"aabb_xy":[[0.5965512002869254,1.1398741219114548],[0.6218047748613181,1.1589662693146006]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_21","position":[-0.04300494936313903,-2.235172183659148,0.71338606911949],"aabb_xy":[[-0.08577165624255922,-2.2991721870809507],[-0.00023824248371884238,-2.171172180237346]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_22","position":[-0.29337034104765347,-0.46765636968621704,0.71338606911949],"aabb_xy":[[-0.3573703414251871,-0.5174016365370293],[-0.22937034067011985,-0.4179111028354048]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_23","position":[-0.059636109615298305,0.4654324147372617,0.71338606911949],"aabb_xy":[[-0.06496862426991129,0.4601080864920261],[-0.05430359496068531,0.4707567429824973]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_24","position":[-0.016309581105907855,-1.6812225295614733,0.71338606911949],"aabb_xy":[[-0.024335851736533853,-1.689974024538826],[-0.008283310475281858,-1.6724710345841207]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_25","position":[-0.42411346459016663,0.8710106003834732,0.71338606911949],"aabb_xy":[[-0.4941134672267529,0.8509057353876076],[-0.35411346195358023,0.8911154653793386]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_26","position":[0.04239960926977426,0.9451329160439124,0.71338606911949],"aabb_xy":[[-0.03760038774447372,0.9249983643705011],[0.12239960628402224,0.9652674677173236]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6824847682552646,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4180.png","name":"4180"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4180.png","name":"4180"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1470.png","name":"1470"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8839.png","name":"8839"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1529.png","name":"1529"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8765.png","name":"8765"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":516.8725480291722,"rotation_z_degrees":355.24358782816597,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0073979106312284625,-0.010463598440720095,0.014762845153569387]},{"name":"camera_2","offset_m":[0.005348651294770929,-0.018686031869157904,-9.6251255909615e-05]},{"name":"camera_3","offset_m":[-0.01746714752728835,-0.0015064768676009248,-0.012255727757617362]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0016340018182015351,0.0017470503718655466,0.0015476531142616093],"end_effector_yaw_offset_degrees":-0.8452826497862036},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016512828495131456,-0.00034265206436693467,0.0007190795348442809],"end_effector_yaw_offset_degrees":0.968419278345322},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0010647150322498477,0.0010666387147086369,-0.0010779403205220654],"end_effector_yaw_offset_degrees":0.49358268600469235}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0011524507358856117,-0.0010212837875294232],"position_m":[0.3529475492641144,-0.08502128378752943,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00031282650022806946,0.0013570290587467818],"position_m":[0.2749128265002281,-0.3289429709412532,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[9.478517560473909e-05,-0.004098504691640435],"position_m":[0.16079478517560475,0.21010149530835956,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003963314695100356,0.00452655316858156],"position_m":[0.3480633146951004,0.11972655316858155,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d0418eab7ed897850c86b5d97e2aa641a732f8740b2c66d3dce65876660f6e1b","episode_index":10,"episode_name":"episode_0010"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0010.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_4180/tex_ceiling_textures_8765/tex_floor_textures_1529/tex_table_textures_1470/tex_wall_textures_8839","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":1355597745213097047,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":1355597745213097047,"visual_seed":1355597745213097047,"scene_id":"lab_003","finished_at":"2026-09-04T00:25:35"} +{"episode_id":"ep_000011","started_at":"2026-09-04T00:25:39","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_0","position":[-0.11264564192743076,-0.32987954690529486,0.71338606911949],"aabb_xy":[[-0.17664563835475267,-0.37704917072739136],[-0.04864564550010887,-0.2827099230831985]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_1","position":[-0.3009805632724973,1.4041919207145575,0.71338606911949],"aabb_xy":[[-0.32931027322103756,1.3997311785208406],[-0.2726508533239571,1.4086526629082747]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_2","position":[0.23819166409770576,-2.141897351970724,0.71338606911949],"aabb_xy":[[0.20779355299856217,-2.172304253972393],[0.26858977519684935,-2.111490449969054]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_3","position":[-0.399059973047943,-0.14763929645975216,0.71338606911949],"aabb_xy":[[-0.4122112190192324,-0.17263929621643873],[-0.3859087270766537,-0.12263929670306564]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_4","position":[0.3311757226021428,-1.0747083022022044,0.71338606911949],"aabb_xy":[[0.31367572235709335,-1.092208090041771],[0.3486757228471921,-1.0572085143626373]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_5","position":[-0.6621212516230596,1.5189788310526873,0.71338606911949],"aabb_xy":[[-0.6729617298495745,1.5017925497620384],[-0.6512807733965447,1.5361651123433357]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_6","position":[-0.5853372962682739,-1.9252391792982837,0.71338606911949],"aabb_xy":[[-0.6553372926782355,-1.945677114949965],[-0.5153372998583119,-1.9048012436466015]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_7","position":[0.5682340561171042,0.46365042019712366,0.71338606911949],"aabb_xy":[[0.530734055619746,0.4596817366490052],[0.6057340566144624,0.467619103745242]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_8","position":[-0.45117630855594604,-1.449893480737893,0.71338606911949],"aabb_xy":[[-0.5311763055701939,-1.4700280324113042],[-0.371176311541698,-1.4297589290644817]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_9","position":[0.5606246667989849,1.3691025834622401,0.71338606911949],"aabb_xy":[[0.5106246673587892,1.3191346589779236],[0.6106246662391804,1.4190705079465562]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_10","position":[-0.35649836797804335,-1.8305922720786536,0.71338606911949],"aabb_xy":[[-0.3682665547727009,-1.9155922719838754],[-0.3447301811833859,-1.7455922721734323]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_11","position":[0.14472760660583872,-1.8739861828656075,0.71338606911949],"aabb_xy":[[0.13497161709666478,-1.8837487169248417],[0.15448359611501256,-1.8642236488063728]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_12","position":[0.6254038290204351,1.613813466860487,0.71338606911949],"aabb_xy":[[0.6004038294686965,1.6036709829953522],[0.6504038285721735,1.6239559507256216]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_13","position":[-0.2519327651750787,-1.6198395291829002,0.71338606911949],"aabb_xy":[[-0.3419327619106889,-1.6730229925001945],[-0.16193276843946847,-1.5666560658656055]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_14","position":[0.6385030808047776,0.9880228881594428,0.71338606911949],"aabb_xy":[[0.5585030793746503,0.9085057331468332],[0.7185030822349047,1.0675400431720523]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_15","position":[0.5314402878000801,0.3351950361115539,0.71338606911949],"aabb_xy":[[0.4674402854572785,0.2902541848674213],[0.5954402901428816,0.3801358873556863]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_16","position":[0.582431972719009,-1.3736757228710101,0.71338606911949],"aabb_xy":[[0.527458250682676,-1.4286757224352435],[0.6374056947553418,-1.3186757233067772]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_17","position":[-0.0394418863405277,-1.5010535180853937,0.71338606911949],"aabb_xy":[[-0.08461320418869667,-1.5650535152299323],[0.005729431507641277,-1.4370535209408553]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_18","position":[0.613555874072282,-0.8898553357637742,0.71338606911949],"aabb_xy":[[0.5238687977641665,-0.9798553360182246],[0.7032429503803974,-0.7998553355093235]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_19","position":[-0.36248734110506053,-2.060005168206517,0.71338606911949],"aabb_xy":[[-0.42248734196587323,-2.1114315982130023],[-0.3024873402442476,-2.00857873820003]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6855812104761175,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2597.png","name":"2597"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2597.png","name":"2597"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8408.png","name":"8408"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8121.png","name":"8121"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6303.png","name":"6303"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4106.png","name":"4106"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":518.2120411889236,"rotation_z_degrees":157.3057945753625,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00900306792223569,-0.01909313191915573,-0.01125644280777697]},{"name":"camera_2","offset_m":[-0.009417392378035806,-0.004075130402203753,0.0006535007710364617]},{"name":"camera_3","offset_m":[0.005525163120678151,-0.008170123267644472,-0.000484342247223761]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0013744366864031497,-0.00015957057961577545,-0.0006479515188655869],"end_effector_yaw_offset_degrees":0.5348346916682445},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00042644237336825815,0.0016928884091020721,-4.805171814892305e-05],"end_effector_yaw_offset_degrees":-0.28823978287545793},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0010459658586880166,-0.0004378335559457223,0.0012144741105122605],"end_effector_yaw_offset_degrees":0.6047819887158603}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0032193314910928285,-0.002903645307500499],"position_m":[0.3508806685089072,-0.0869036453075005,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00301016451191058,-0.00016394997813944275],"position_m":[0.2776101645119106,-0.33046394997813944,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0010327440930040337,0.0030819107369272373],"position_m":[0.159667255906996,0.21728191073692724,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0027313921481188505,-0.0007918256935230371],"position_m":[0.34683139214811887,0.11440817430647696,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"37093e58cd24d658680143cb5758d178caf41b2726aeca5d85174618e458f53d","episode_index":11,"episode_name":"episode_0011"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0011.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_2597/tex_ceiling_textures_4106/tex_floor_textures_6303/tex_table_textures_8408/tex_wall_textures_8121","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":7291634451095171782,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":7291634451095171782,"visual_seed":7291634451095171782,"scene_id":"lab_003","finished_at":"2026-09-04T00:28:17"} +{"episode_id":"ep_000012","started_at":"2026-09-04T00:28:20","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_0","position":[0.6463410912634922,0.7465711977526066,0.71338606911949],"aabb_xy":[[0.5963410903129592,0.7150220507490851],[0.6963410922140248,0.7781203447561279]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_1","position":[0.0028835221983526393,-2.087380240412905,0.71338606911949],"aabb_xy":[[-0.03211647611234281,-2.095095255336451],[0.037883520509048085,-2.0796652254893595]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_2","position":[0.002583102468970755,1.2809355049060307,0.71338606911949],"aabb_xy":[[-0.062416895686948304,1.2546392603561185],[0.06758310062488981,1.307231749455943]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_3","position":[-0.49039194944926484,0.42033153380705324,0.71338606911949],"aabb_xy":[[-0.5059477188595302,0.4047811005626461],[-0.4748361800389997,0.4358819670514605]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_4","position":[-0.4172026494883201,0.3109299789455955,0.71338606911949],"aabb_xy":[[-0.42519613928360217,0.3029318470051198],[-0.4092091596930381,0.31892811088607115]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_5","position":[-0.606614720626451,-0.789738713159557,0.71338606911949],"aabb_xy":[[-0.6265057605067912,-0.802394524444254],[-0.5867236807461107,-0.7770829018748603]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_6","position":[-0.5966360989074635,1.5467838512765,0.71338606911949],"aabb_xy":[[-0.6020940445444836,1.4667838479688406],[-0.5911781532704434,1.6267838545841589]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_7","position":[0.1774053554189704,-1.573164351687383,0.71338606911949],"aabb_xy":[[0.11240535278117694,-1.62464395038683],[0.24240535805676391,-1.521684752987936]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_8","position":[-0.2216398101900809,-1.5403117319942554,0.71338606911949],"aabb_xy":[[-0.22534307151921976,-1.544013750302973],[-0.21793654886094202,-1.5366097136855374]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_9","position":[-0.020494036064203858,-1.0255349986948472,0.71338606911949],"aabb_xy":[[-0.03792475114321035,-1.0428071133586978],[-0.0030633209851973447,-1.0082628840309962]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_10","position":[-0.07479034527572437,-1.8284888875170613,0.71338606911949],"aabb_xy":[[-0.07922097463056454,-1.8339372592517438],[-0.07035971592088419,-1.8230405157823788]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_11","position":[-0.0783719021447642,0.814833730055299,0.71338606911949],"aabb_xy":[[-0.14237190405710654,0.7589225807972887],[-0.014371900232421853,0.8707448793133096]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_12","position":[-0.1350033671517975,-2.2037277465781324,0.71338606911949],"aabb_xy":[[-0.19012857278138826,-2.263727748019419],[-0.07987816152220671,-2.143727745136845]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_13","position":[-0.08691584189956947,-2.380237754529208,0.71338606911949],"aabb_xy":[[-0.0930104697876878,-2.388807149080877],[-0.08082121401145116,-2.3716683599775394]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_14","position":[-0.32019871869172317,1.499427133983216,0.71338606911949],"aabb_xy":[[-0.35016627560154884,1.4694271336853302],[-0.2902311617818975,1.5294271342811017]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_15","position":[0.5690196322045256,-1.369850747441072,0.71338606911949],"aabb_xy":[[0.5190408236942097,-1.4198507474467905],[0.6189984407148414,-1.319850747435353]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_16","position":[-0.21638859400242583,-0.4543600367200331,0.71338606911949],"aabb_xy":[[-0.2803885903979989,-0.5183233251387667],[-0.15238859760685272,-0.3903967483012995]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_17","position":[0.5832000520004692,-2.089910958907924,0.71338606911949],"aabb_xy":[[0.5032000533435832,-2.104415817832187],[0.6632000506573552,-2.075406099983661]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_18","position":[-0.633408093320885,0.5628963890885141,0.71338606911949],"aabb_xy":[[-0.6406904096975484,0.472896385479005],[-0.6261257769442211,0.6528963926980229]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_19","position":[-0.5927432115894385,-0.20617804263266848,0.71338606911949],"aabb_xy":[[-0.6777432100068618,-0.29105233809495346],[-0.5077432131720153,-0.1213037471703835]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_20","position":[-0.44490330834734937,1.6780621074376882,0.71338606911949],"aabb_xy":[[-0.47921958552196725,1.6280621074645103],[-0.4105870311727314,1.7280621074108657]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_21","position":[0.11906305826058439,-2.3145221248812775,0.71338606911949],"aabb_xy":[[0.10205296097053373,-2.3306566133795514],[0.13607315555063504,-2.2983876363830036]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_22","position":[-0.2182973771805088,-0.3262603846569232,0.71338606911949],"aabb_xy":[[-0.2557973778450875,-0.34194744265714533],[-0.18079737651593009,-0.31057332665670095]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_23","position":[-0.3811658401439367,-1.9105163934685174,0.71338606911949],"aabb_xy":[[-0.3920716162314994,-1.9905163898673466],[-0.37026006405637396,-1.8305163970696883]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_24","position":[0.3828467606523027,1.4863207902335014,0.71338606911949],"aabb_xy":[[0.30284676267151767,1.4787192492716494],[0.4628467586330878,1.4939223311953533]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_25","position":[0.5353495041398986,-1.1001174802749685,0.71338606911949],"aabb_xy":[[0.4855327246750638,-1.1501174787592716],[0.5851662836047333,-1.0501174817906649]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_26","position":[-0.3901537135929357,-0.8978879108968254,0.71338606911949],"aabb_xy":[[-0.45414941098803224,-0.961887909197534],[-0.3261580161978391,-0.8338879125961166]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.676298632992926,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9232.png","name":"9232"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9232.png","name":"9232"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3532.png","name":"3532"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4883.png","name":"4883"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1118.png","name":"1118"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8229.png","name":"8229"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":715.9345956475563,"rotation_z_degrees":279.9215448803671,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005538818300247326,-0.018742704757795547,-0.0004980096728588873]},{"name":"camera_2","offset_m":[-0.0017145532165158614,0.011560345073363464,0.012561414346368729]},{"name":"camera_3","offset_m":[-0.0033113362604123737,0.014520572590328653,0.01589411943692331]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006664949559469346,0.0005101005169855805,0.0008164886758223609],"end_effector_yaw_offset_degrees":-0.22781091904489315},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015231590979851916,-0.00029442492932542125,-0.0011145463455323685],"end_effector_yaw_offset_degrees":-0.15361546377587798},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019895738052715917,-0.00031744470218661035,0.0004129434701461432],"end_effector_yaw_offset_degrees":0.06656053810492502}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0013544875893249661,0.00018566540261129218],"position_m":[0.355454487589325,-0.08381433459738871,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004929596779710267,0.004661966280395052],"position_m":[0.26967040322028973,-0.3256380337196049,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0027149068671312613,-0.0021156185158922227],"position_m":[0.16341490686713128,0.21208438148410777,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0017332814215840799,-0.004551468350568605],"position_m":[0.3458332814215841,0.11064853164943139,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"22da7ab69e59e0087e282e0048df19b7b76d9137b6982af8de445efd9f579966","episode_index":12,"episode_name":"episode_0012"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0012.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_9232/tex_ceiling_textures_8229/tex_floor_textures_1118/tex_table_textures_3532/tex_wall_textures_4883","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":2885112076794351090,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":2885112076794351090,"visual_seed":2885112076794351090,"scene_id":"lab_003","finished_at":"2026-09-04T00:31:03"} +{"episode_id":"ep_000013","started_at":"2026-09-04T00:31:06","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_0","position":[-0.38882780516058724,0.13230194704227838,0.71338606911949],"aabb_xy":[[-0.39694145983396434,0.1241961305882493],[-0.38071415048721013,0.14040776349630746]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_1","position":[0.2692793282987035,-2.299817698647879,0.71338606911949],"aabb_xy":[[0.25039494453019323,-2.3187036234282323],[0.28816371206721364,-2.2809317738675268]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_2","position":[-0.004419423362372332,-2.0957884986911965,0.71338606911949],"aabb_xy":[[-0.015192397283740111,-2.1307884969102355],[0.006353550558995447,-2.0607885004721576]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_3","position":[-0.5348573365554741,-0.7018064532684978,0.71338606911949],"aabb_xy":[[-0.5394924517077073,-0.7056737883456463],[-0.5302222214032406,-0.697939118191349]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_4","position":[0.5752020320737707,-0.47169302310175176,0.71338606911949],"aabb_xy":[[0.5112020301614285,-0.5276041723597622],[0.6392020339861132,-0.4157818738437414]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_5","position":[-0.660530199954705,0.5957006837769705,0.71338606911949],"aabb_xy":[[-0.685530199887223,0.5888180155560472],[-0.6355302000221872,0.6025833519978938]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_6","position":[0.6805165747728699,-0.19428058849012197,0.71338606911949],"aabb_xy":[[0.6745500358321341,-0.200241733149486],[0.6864831137136056,-0.18831944383075794]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_7","position":[0.6069997954982722,-2.1805805988263707,0.71338606911949],"aabb_xy":[[0.5894997962201854,-2.1979186988927166],[0.6244997947763592,-2.1632424987600247]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_8","position":[-0.07438260658138407,-1.3135547202485998,0.71338606911949],"aabb_xy":[[-0.08684996469111973,-1.326020044881923],[-0.061915248471648435,-1.301089395615276]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_9","position":[-0.4028853526867962,1.006880663379397,0.71338606911949],"aabb_xy":[[-0.41956248867989165,0.9901807394054669],[-0.38620821669370065,1.0235805873533275]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_10","position":[0.6527629933896566,-2.3990275939481753,0.71338606911949],"aabb_xy":[[0.6152629948140357,-2.411763889611733],[0.6902629919652773,-2.386291298284617]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_11","position":[-0.34005964865978106,-1.2223397553273359,0.71338606911949],"aabb_xy":[[-0.35755958209376437,-1.2398397552475702],[-0.3225597152257976,-1.204839755407101]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_12","position":[0.3897379767621303,-1.343749463586672,0.71338606911949],"aabb_xy":[[0.38565981885508055,-1.3478304438349356],[0.39381613466918003,-1.339668483338409]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_13","position":[-0.5155478214795117,-1.6284924965060261,0.71338606911949],"aabb_xy":[[-0.5284197249804518,-1.7084924969198618],[-0.5026759179785715,-1.5484924960921895]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_14","position":[0.6427976786558618,0.7626313151862676,0.71338606911949],"aabb_xy":[[0.609318511394821,0.7291522018151606],[0.6762768459169028,0.7961104285573746]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_15","position":[0.2841887000962281,0.7992562176256954,0.71338606911949],"aabb_xy":[[0.27074217346218477,0.7857863659726043],[0.29763522673027143,0.8127260692787868]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_16","position":[-0.36274886132321593,-1.3544833171832522,0.71338606911949],"aabb_xy":[[-0.4002488618205742,-1.3584520007313705],[-0.3252488608258577,-1.3505146336351335]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_17","position":[-0.21488730609206358,-0.4145533281489948,0.71338606911949],"aabb_xy":[[-0.2698873057138095,-0.4695370209364676],[-0.15988730647031776,-0.35956963536152214]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_18","position":[-0.015953457405088245,1.7103896447081692,0.71338606911949],"aabb_xy":[[-0.026106472959237615,1.6743201031354285],[-0.00580044185093886,1.7464591862809091]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_19","position":[0.02401988308878289,-0.9423832100766758,0.71338606911949],"aabb_xy":[[-0.03998011718519534,-0.9924493102739638],[0.08801988336276112,-0.8923171098793878]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_20","position":[0.2234863806233075,-0.9360249586922884,0.71338606911949],"aabb_xy":[[0.20098724489708053,-0.9585249594705514],[0.24598551634953447,-0.9135249579140254]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_21","position":[0.18232793110100853,1.1054291065248876,0.71338606911949],"aabb_xy":[[0.1448279303090131,1.0990612655666974],[0.21982793189300398,1.1117969474830778]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_22","position":[-0.20600139731315814,-1.6061492853744892,0.71338606911949],"aabb_xy":[[-0.2700013975736289,-1.6511580847274172],[-0.1420013970526873,-1.5611404860215612]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_23","position":[0.6264226812715885,-0.7278650344992712,0.71338606911949],"aabb_xy":[[0.562422683969242,-0.7722314614671278],[0.6904226785739348,-0.6834986075314143]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_24","position":[0.6898047864973706,-0.8978733965804708,0.71338606911949],"aabb_xy":[[0.6721291559087722,-0.9155536128598736],[0.7074804170859689,-0.8801931803010681]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_25","position":[-0.1263487811319689,1.2366272660446014,0.71338606911949],"aabb_xy":[[-0.1691154880113891,1.172627262622799],[-0.08358207425254871,1.3006272694664038]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_26","position":[0.581023787401256,-2.067732435746966,0.71338606911949],"aabb_xy":[[0.5731005071625078,-2.0902324359849693],[0.5889470676400045,-2.0452324355089626]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_27","position":[0.051522307882429175,-1.2236658817508508,0.71338606911949],"aabb_xy":[[0.04236242893855258,-1.2301970997943878],[0.06068218682630578,-1.2171346637073137]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_28","position":[0.5551650590619555,-1.0295200842821832,0.71338606911949],"aabb_xy":[[0.4751650585917395,-1.0378307918965317],[0.6351650595321714,-1.0212093766678352]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_29","position":[0.020378259200889093,-1.5432063028497272,0.71338606911949],"aabb_xy":[[-0.01816743362431194,-1.5817520739059159],[0.058923952026090125,-1.5046605317935384]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_30","position":[0.5679216683152175,-2.505571154715078,0.71338606911949],"aabb_xy":[[0.517948374311957,-2.5555711552696248],[0.6178949623184778,-2.45557115416053]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_31","position":[-0.4064041748831632,-1.8233869252831072,0.71338606911949],"aabb_xy":[[-0.4714041758836637,-1.8741732904377821],[-0.34140417388266264,-1.7726005601284323]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_32","position":[0.056134210404130136,-0.7863639986686073,0.71338606911949],"aabb_xy":[[0.018634210587096578,-0.7910022099797491],[0.0936342102211637,-0.7817257873574655]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_33","position":[-0.5068935124990417,1.7334155027180151,0.71338606911949],"aabb_xy":[[-0.5708935139070322,1.68162655119409],[-0.44289351109105096,1.7852044542419394]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_34","position":[0.6363025082321803,1.3222384526976145,0.71338606911949],"aabb_xy":[[0.5884963406184116,1.2572384499905556],[0.6841086758459489,1.3872384554046735]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6828419776605847,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7339.png","name":"7339"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7339.png","name":"7339"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5655.png","name":"5655"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/905.png","name":"905"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5272.png","name":"5272"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2444.png","name":"2444"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":814.7311968315735,"rotation_z_degrees":276.7494129745147,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.002789255969190871,0.010007435480554813,0.013293443463679059]},{"name":"camera_2","offset_m":[0.019943990597790295,0.019504915429441032,-0.011268469014656453]},{"name":"camera_3","offset_m":[0.011319947619964011,-0.013595319869103966,0.01916321697341541]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019457568770611866,-9.84618294068236e-05,-0.0002443033377506566],"end_effector_yaw_offset_degrees":0.6227952628909441},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019078559155258704,-0.0009462691233821251,0.0007509808327732081],"end_effector_yaw_offset_degrees":-0.8547735096705895},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005045684842017967,-0.0004641866183523807,0.00021569377721807406],"end_effector_yaw_offset_degrees":0.9042389505864368}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001393178436815943,0.0003928938600516038],"position_m":[0.35270682156318406,-0.0836071061399484,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001161906466577209,0.0021612850574861],"position_m":[0.2757619064665772,-0.3281387149425139,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0008349463199648043,0.0007316902603868251],"position_m":[0.1598650536800352,0.21493169026038683,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0034945261275201446,0.0013050358500445967],"position_m":[0.34060547387247986,0.1165050358500446,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a4f258281109c638c9115b700ee2eebef23df9cf5799ed460a3eb4ae307de7ea","episode_index":13,"episode_name":"episode_0013"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0013.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_7339/tex_ceiling_textures_2444/tex_floor_textures_5272/tex_table_textures_5655/tex_wall_textures_905","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":6949809956381098558,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":6949809956381098558,"visual_seed":6949809956381098558,"scene_id":"lab_003","finished_at":"2026-09-04T00:33:56"} +{"episode_id":"ep_000014","started_at":"2026-09-04T00:34:00","dimensions":{"distractor":{"count":24,"items":[{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_0","position":[0.5678960831368116,-1.4568459136533674,0.71338606911949],"aabb_xy":[[0.4878960851560266,-1.464447454615219],[0.6478960811175967,-1.4492443726915152]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_1","position":[-0.15293869544716432,-1.9882966026400462,0.71338606911949],"aabb_xy":[[-0.20006807444899996,-2.0522966036844483],[-0.10580931644532862,-1.924296601595644]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_2","position":[0.5327176401084845,1.2477178576553887,0.71338606911949],"aabb_xy":[[0.4627176374718982,1.2276129926595232],[0.6027176427450709,1.2678227226512542]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_3","position":[-0.37560827842977657,-1.8337964178864756,0.71338606911949],"aabb_xy":[[-0.45560827539281573,-1.9108720595302489],[-0.2956082814667374,-1.756720776242702]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_4","position":[0.49686050375710966,0.8167308016230632,0.71338606911949],"aabb_xy":[[0.4880584484481369,0.8089194754681341],[0.5056625590660823,0.8245421277779923]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_5","position":[0.5255648628083316,-2.212569601624454,0.71338606911949],"aabb_xy":[[0.508064862548995,-2.226661143813227],[0.5430648630676682,-2.198478059435682]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_6","position":[-0.6060017204622079,-1.8555654489001165,0.71338606911949],"aabb_xy":[[-0.6559805289725238,-1.9055654489058351],[-0.556022911951892,-1.8055654488943975]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_7","position":[0.6716562179144254,-0.926389540391463,0.71338606911949],"aabb_xy":[[0.6540233823208979,-0.9440124864070859],[0.689289053507953,-0.90876659437584]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_8","position":[0.10615135712298962,-1.545083587495218,0.71338606911949],"aabb_xy":[[0.07115135722697075,-1.553457823007158],[0.1411513570190085,-1.5367093519832784]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_9","position":[-0.44045447449572045,1.4073921830775573,0.71338606911949],"aabb_xy":[[-0.47504555734976567,1.342392182792526],[-0.40586339164167523,1.4723921833625881]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_10","position":[-0.5044132929074714,-0.04938601567908529,0.71338606911949],"aabb_xy":[[-0.514044929127901,-0.05902332845879421],[-0.49478165668704177,-0.039748702899376376]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_11","position":[-0.5634711179757227,0.9260422100145056,0.71338606911949],"aabb_xy":[[-0.5759384760854585,0.9135768853811821],[-0.5510037598659872,0.9385075346478291]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_12","position":[-0.49675801413694076,-2.256219068066497,0.71338606911949],"aabb_xy":[[-0.5143047090530597,-2.2937190696307486],[-0.4792113192208219,-2.2187190665022456]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_13","position":[-0.36733182059147773,0.591066391044615,0.71338606911949],"aabb_xy":[[-0.3753751805174329,0.5060663899492486],[-0.35928846066552256,0.6760663921399814]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_14","position":[-0.20836525675334372,0.09472743741133005,0.71338606911949],"aabb_xy":[[-0.2583652577038765,0.06317829040780863],[-0.15836525580281088,0.12627658441485146]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_15","position":[0.3662616368793241,-1.3064584892040692,0.71338606911949],"aabb_xy":[[0.3440891099026733,-1.3286341563601924],[0.3884341638559749,-1.2842828220479459]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_16","position":[-0.12862127263608958,-2.2888483800110597,0.71338606911949],"aabb_xy":[[-0.19262126993843595,-2.333214806978917],[-0.06462127533374315,-2.2444819530432034]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_17","position":[0.3466567363457169,-0.8094310059040091,0.71338606911949],"aabb_xy":[[0.29165673716912743,-0.8644206806789666],[0.4016567355223064,-0.7544413311290513]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_18","position":[0.5072029631042259,-0.9899566114079918,0.71338606911949],"aabb_xy":[[0.44320296105449397,-1.0300510944972996],[0.571202965153958,-0.9498621283186837]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_19","position":[0.5923083652583914,-1.2681109135045097,0.71338606911949],"aabb_xy":[[0.5123083638282642,-1.3476280685171191],[0.6723083666885186,-1.1885937584919002]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_20","position":[-0.18432782491189847,-1.3330082073425324,0.71338606911949],"aabb_xy":[[-0.2208236455391772,-1.36949214976929],[-0.1478320042846197,-1.2965242649157749]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_21","position":[-0.09892850098595107,0.4009424274075628,0.71338606911949],"aabb_xy":[[-0.15392850060769692,0.34595873462009014],[-0.043928501364205216,0.4559261201950356]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_22","position":[-0.6475922396802323,-1.3055001580573857,0.71338606911949],"aabb_xy":[[-0.6819085168548502,-1.3555001580305632],[-0.6132759625056143,-1.2555001580842078]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_23","position":[0.14735768439732755,-0.8752552231563862,0.71338606911949],"aabb_xy":[[0.12485854867110058,-0.8977552239346491],[0.16985682012355452,-0.8527552223781232]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6838881050002232,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7316.png","name":"7316"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7316.png","name":"7316"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7144.png","name":"7144"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9547.png","name":"9547"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8165.png","name":"8165"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8845.png","name":"8845"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":726.0506007632514,"rotation_z_degrees":149.36658288886883,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011396408025412983,0.01628186100286685,-0.012087346233634505]},{"name":"camera_2","offset_m":[-0.004485040741666765,-0.007664026205129742,-8.831871370143865e-05]},{"name":"camera_3","offset_m":[-0.0018694171915434807,-0.004827497578215012,0.002098291789521905]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001368373734473537,0.00023203350084325747,0.00036659086526134215],"end_effector_yaw_offset_degrees":0.4900678369689797},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001001230637090089,0.0007042347759766351,0.0008246533094879841],"end_effector_yaw_offset_degrees":-0.9071800375875438},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0002538814246931878,0.0006168382255116252,0.0015952219205766548],"end_effector_yaw_offset_degrees":-0.26437905248509574}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0023375010068355006,0.0028245752723419218],"position_m":[0.3564375010068355,-0.08117542472765808,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0008688361899721643,-0.0036651171652765336],"position_m":[0.2737311638100278,-0.3339651171652765,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00012036056579872723,0.003564757857034271],"position_m":[0.16057963943420128,0.21776475785703428,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004401098841452023,-0.002529434268709072],"position_m":[0.34850109884145203,0.11267056573129093,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"948965f24189496c009c18859864846991aa3b9b89991053775fdd1674c1f00b","episode_index":14,"episode_name":"episode_0014"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0014.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_7316/tex_ceiling_textures_8845/tex_floor_textures_8165/tex_table_textures_7144/tex_wall_textures_9547","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":5933967993645156174,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":5933967993645156174,"visual_seed":5933967993645156174,"scene_id":"lab_003","finished_at":"2026-09-04T00:36:44"} +{"episode_id":"ep_000015","started_at":"2026-09-04T00:36:48","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_0","position":[-0.49733758914693615,-1.9585020187558566,0.71338606911949],"aabb_xy":[[-0.5426162040280855,-2.0225020181040403],[-0.45205897426578695,-1.894502019407673]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_1","position":[-0.4797409025846331,-1.5933942799811853,0.71338606911949],"aabb_xy":[[-0.4838767589173333,-1.6308942794255425],[-0.4756050462519329,-1.5558942805368285]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_2","position":[0.378614524818333,-1.799826247490586,0.71338606911949],"aabb_xy":[[0.2886145280827228,-1.8530097108078805],[0.46861452155394323,-1.7466427841732914]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_3","position":[-0.04976054148056008,0.07976521863779507,0.71338606911949],"aabb_xy":[[-0.07226054149070837,0.06566899899819179],[-0.027260541470411792,0.09386143827739835]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_4","position":[-0.44672212197271993,-2.417285401195592,0.71338606911949],"aabb_xy":[[-0.5117221198543678,-2.468409064902133],[-0.3817221240910722,-2.366161737489051]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_5","position":[0.10160539685614056,-2.193593199161707,0.71338606911949],"aabb_xy":[[0.037605394513339004,-2.238534050405839],[0.16560539919894213,-2.148652347917574]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_6","position":[-0.02983128341272212,-1.2585431633065534,0.71338606911949],"aabb_xy":[[-0.04416570853888557,-1.2706033788610922],[-0.015496858286558668,-1.2464829477520145]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_7","position":[-0.059532132193736875,-0.07094766220458926,0.71338606911949],"aabb_xy":[[-0.07140421520523799,-0.1559476618982396],[-0.04766004918223577,0.014052337489061109]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_8","position":[-0.36498761291301507,1.0333284280516102,0.71338606911949],"aabb_xy":[[-0.42498761455593687,0.981328278759666],[-0.30498761127009316,1.0853285773435544]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_9","position":[-0.3709315682149455,-1.1978944603049955,0.71338606911949],"aabb_xy":[[-0.3781753342611908,-1.2778944585085978],[-0.36368780216870017,-1.117894462101393]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_10","position":[-0.45208501908465115,0.5213945111303904,0.71338606911949],"aabb_xy":[[-0.5160807164797476,0.4573945128296816],[-0.3880893216895545,0.5853945094310989]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_11","position":[-0.5186850512645113,0.14907369403138393,0.71338606911949],"aabb_xy":[[-0.5273830135552265,0.1369487197239092],[-0.509987088973796,0.16119866833885865]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_12","position":[-0.4863125525201158,-0.49113751506940373,0.71338606911949],"aabb_xy":[[-0.49042850263218846,-0.4952530701022491],[-0.48219660240804313,-0.4870219600365581]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_13","position":[0.07178922888528749,1.1876541133221776,0.71338606911949],"aabb_xy":[[0.06408603821121044,1.1799447426234393],[0.07949241955936452,1.1953634840209155]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_14","position":[0.601079237952584,0.14664684874139278,0.71338606911949],"aabb_xy":[[0.5699323191090008,0.07664685005458557],[0.632226156796167,0.21664684742819992]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_15","position":[0.5584029527088472,1.6007842222188242,0.71338606911949],"aabb_xy":[[0.4944029523313136,1.551038955368012],[0.6224029530863808,1.6505294890696365]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_16","position":[0.18079409699677673,-1.7038308511461628,0.71338606911949],"aabb_xy":[[0.1508024342629064,-1.7338308504829634],[0.21078575973064706,-1.6738308518093623]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_17","position":[0.2025894710464753,1.2396344547267497,0.71338606911949],"aabb_xy":[[0.16696031514651552,1.2040017879698965],[0.238218626946435,1.2752671214836024]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_18","position":[-0.14368194823627622,0.11896723448196367,0.71338606911949],"aabb_xy":[[-0.16122864315239516,0.08146723291771239],[-0.1261352533201573,0.15646723604621493]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_19","position":[-0.07559213363847639,-2.5513513986002287,0.71338606911949],"aabb_xy":[[-0.08819483277555286,-2.5639467948250942],[-0.06298943450139995,-2.5387560023753633]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_20","position":[0.6113945460258603,0.944995653951096,0.71338606911949],"aabb_xy":[[0.5314007224473021,0.8649956513582545],[0.6913883696044185,1.0249956565439375]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_21","position":[-0.3391321543165679,1.6203216269470064,0.71338606911949],"aabb_xy":[[-0.3455459679597528,1.6139118066993379],[-0.3327183406733829,1.6267314471946746]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_22","position":[0.025591462048219715,-0.934918679351753,0.71338606911949],"aabb_xy":[[0.020253886382215147,-0.9599186802808927],[0.030929037714224283,-0.9099186784226131]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_23","position":[-0.5791136879985825,0.8084762439654352,0.71338606911949],"aabb_xy":[[-0.6020294008836325,0.7855719468290118],[-0.5561979751135327,0.8313805411018588]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_24","position":[0.1039821584621734,-1.2618995414532084,0.71338606911949],"aabb_xy":[[0.06898215933221773,-1.2676447625288725],[0.13898215759212906,-1.2561543203775443]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_25","position":[-0.6177412620080627,-0.595158526215243,0.71338606911949],"aabb_xy":[[-0.6211819382481198,-0.5990199591896075],[-0.6143005857680055,-0.5912970932408785]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_26","position":[-0.4773573010837032,-0.7716870955098831,0.71338606911949],"aabb_xy":[[-0.5201240079631234,-0.8356870989316856],[-0.43459059420428303,-0.7076870920880807]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_27","position":[-0.15533735428855133,-1.862548503181748,0.71338606911949],"aabb_xy":[[-0.20533735464911737,-1.9125284903913509],[-0.10533735392798525,-1.812568515972145]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_28","position":[-0.5216204074167344,1.5305151473232779,0.71338606911949],"aabb_xy":[[-0.559120408932366,1.5192883743071326],[-0.4841204059011026,1.5417419203394227]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_29","position":[0.4486884693227069,-0.6403779637240519,0.71338606911949],"aabb_xy":[[0.41118846882534865,-0.6443466472721703],[0.48618846982006514,-0.6364092801759335]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_30","position":[-0.3064897302850437,-1.2581874195377702,0.71338606911949],"aabb_xy":[[-0.3156496092289203,-1.2647186375813073],[-0.29732985134116713,-1.2516562014942332]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_31","position":[0.10710493296438695,-1.0888997726964083,0.71338606911949],"aabb_xy":[[0.03710493655442513,-1.1093377083480895],[0.17710492937434869,-1.068461837044726]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6885705929708171,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2134.png","name":"2134"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2134.png","name":"2134"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4642.png","name":"4642"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9193.png","name":"9193"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7007.png","name":"7007"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1115.png","name":"1115"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":561.4092209886575,"rotation_z_degrees":324.2070385342808,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008437863428442487,0.00769605034538284,0.008918075598561729]},{"name":"camera_2","offset_m":[0.013311769785287916,-0.004937493756011354,-0.0072141720896558275]},{"name":"camera_3","offset_m":[-0.018841234849286695,0.018839636811916274,0.004650050530810336]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011332109165463318,0.0018044480121768274,0.0003633574442171222],"end_effector_yaw_offset_degrees":-0.4640310139465258},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014095105358292595,0.0018404844651655687,-0.0009215350653235578],"end_effector_yaw_offset_degrees":-0.05815518079424642},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005265662211989155,0.0013434099707725932,0.0009524291475908032],"end_effector_yaw_offset_degrees":-0.3912571393037021}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0017630018510800469,-0.004950751581426774],"position_m":[0.35586300185108005,-0.08895075158142678,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0049930998490930875,-0.0027587292093783113],"position_m":[0.2795930998490931,-0.3330587292093783,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0016378779907024075,-0.0032235181587352644],"position_m":[0.16233787799070243,0.21097648184126475,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0019041758007727642,0.0015118950995828247],"position_m":[0.3460041758007728,0.11671189509958282,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4d79d7b1fb3acfcfc932c1577088e8c8f73358d9ba98dd8b126d0162c0080e7b","episode_index":15,"episode_name":"episode_0015"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0015.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_2134/tex_ceiling_textures_1115/tex_floor_textures_7007/tex_table_textures_4642/tex_wall_textures_9193","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":162632275006380988,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":162632275006380988,"visual_seed":162632275006380988,"scene_id":"lab_003","finished_at":"2026-09-04T00:39:33"} +{"episode_id":"ep_000016","started_at":"2026-09-04T00:39:36","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_0","position":[0.19730770367836625,0.7012080363095987,0.71338606911949],"aabb_xy":[[0.1737225802144714,0.6362080340641669],[0.2208928271422611,0.7662080385550305]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_1","position":[-0.01573526244974288,1.692491819998827,0.71338606911949],"aabb_xy":[[-0.046219512576773036,1.642491820217331],[0.014748987677287273,1.742491819780323]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_2","position":[-0.15998183854611203,-2.1402362046106385,0.71338606911949],"aabb_xy":[[-0.17088761463367472,-2.2202362010094676],[-0.1490760624585493,-2.0602362082118093]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_3","position":[0.2415971648237496,-2.427822576909205,0.71338606911949],"aabb_xy":[[0.17659716626667676,-2.457575110323088],[0.30659716338082244,-2.3980700434953226]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_4","position":[-0.2544112454241715,-2.169192814664013,0.71338606911949],"aabb_xy":[[-0.26082505906735637,-2.1756026349116806],[-0.24799743178098652,-2.1627829944163444]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_5","position":[0.6091577091573639,-1.5911427557744533,0.71338606911949],"aabb_xy":[[0.5998640909202133,-1.628642754262587],[0.6184513273945145,-1.5536427572863192]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_6","position":[-0.35998145756457317,1.6985907167627663,0.71338606911949],"aabb_xy":[[-0.3676057256547514,1.6909574932262228],[-0.3523571894743949,1.7062239402993102]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_7","position":[-0.5206822929663313,-0.8067504286335463,0.71338606911949],"aabb_xy":[[-0.5314552668876991,-0.8417504268525852],[-0.5099093190449635,-0.7717504304145072]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_8","position":[0.48581950483643266,-1.6261509832830972,0.71338606911949],"aabb_xy":[[0.43081950663468777,-1.6666729499095345],[0.5408195030381774,-1.5856290166566593]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_9","position":[-0.19530408564667706,-0.7985883414605397,0.71338606911949],"aabb_xy":[[-0.2790263111467595,-0.8885883449952355],[-0.1115818601465946,-0.7085883379258436]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_10","position":[-0.5304637782048333,-2.2086205313062046,0.71338606911949],"aabb_xy":[[-0.5460195476150986,-2.2241709645506123],[-0.5149080087945681,-2.193070098061798]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_11","position":[-0.1989571088248439,-0.467966314816449,0.71338606911949],"aabb_xy":[[-0.26295710908531467,-0.512975114169377],[-0.13495710856437307,-0.422957515463521]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_12","position":[0.07636903136548667,-0.9975362846986113,0.71338606911949],"aabb_xy":[[0.012369029145079646,-1.0419093688238998],[0.1403690335858937,-0.9531632005733232]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_13","position":[-0.6382008663622873,0.7885904737810203,0.71338606911949],"aabb_xy":[[-0.6757008661793208,0.7839522624698784],[-0.6007008665452537,0.793228685092162]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_14","position":[0.6083871677510948,-0.34782979034343864,0.71338606911949],"aabb_xy":[[0.5283933441725366,-0.4278297929362802],[0.688380991329653,-0.26782978775059707]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_15","position":[-0.46372527356277937,-0.21501590042653618,0.71338606911949],"aabb_xy":[[-0.5137252730029749,-0.26498382491085243],[-0.41372527412258364,-0.16504797594221982]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_16","position":[-0.2117233546643244,1.3976528321299058,0.71338606911949],"aabb_xy":[[-0.24520252192536537,1.3641737187587988],[-0.1782441874032835,1.4311319455010127]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_17","position":[0.4831966940305239,0.29242461913678275,0.71338606911949],"aabb_xy":[[0.46069669378700856,0.2802199844770108],[0.5056966942740393,0.3046292537965547]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_18","position":[0.6934955081112815,0.46860601385408085,0.71338606911949],"aabb_xy":[[0.6806236046103412,0.38860601344024476],[0.7063674116122215,0.548606014267917]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_19","position":[-0.041650233489553656,0.2364583582119888,0.71338606911949],"aabb_xy":[[-0.04628534864178704,0.23259102313484012],[-0.03701511833732026,0.24032569328913742]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_20","position":[-0.06468470738858534,-2.0666079595799527,0.71338606911949],"aabb_xy":[[-0.0700222830545899,-2.091607960509093],[-0.05934713172258077,-2.0416079586508133]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_21","position":[-0.6038777541966687,-2.020592728783537,0.71338606911949],"aabb_xy":[[-0.6538777537730035,-2.0705733077356427],[-0.5538777546203341,-1.9706121498314308]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_22","position":[0.14608893272769685,-0.6379613504324049,0.71338606911949],"aabb_xy":[[0.14050726109356806,-0.6504613502501803],[0.15167060436182558,-0.6254613506146293]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_23","position":[0.3278538377850484,0.9877433143763805,0.71338606911949],"aabb_xy":[[0.2953921369031209,0.9576104822614778],[0.3603155386669758,1.0178761464912829]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_24","position":[-0.23917322257350387,-1.6627249989394774,0.71338606911949],"aabb_xy":[[-0.2891462881060194,-1.7127249987520108],[-0.1892001570409885,-1.612724999126945]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_25","position":[-0.5432289892952178,-2.3900986804830757,0.71338606911949],"aabb_xy":[[-0.6232289903683381,-2.39987672682046],[-0.46322898822209746,-2.3803206341456913]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_26","position":[-0.03954955622844314,-1.1343292211772327,0.71338606911949],"aabb_xy":[[-0.0895495572475784,-1.1707954369150606],[0.010450444790692135,-1.0978630054394047]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_27","position":[0.19647527494649453,1.3507107219137722,0.71338606911949],"aabb_xy":[[0.1164752735163673,1.2711935669011627],[0.2764752763766217,1.4302278769263816]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_28","position":[-0.16887753758533863,-1.116763224544198,0.71338606911949],"aabb_xy":[[-0.20637753787751345,-1.1208046999448014],[-0.13137753729316382,-1.1127217491435943]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_29","position":[0.6179401577635633,0.02994086957500741,0.71338606911949],"aabb_xy":[[0.606068074752062,-0.05505913011864294],[0.6298122407750643,0.11494086926865776]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_30","position":[-0.19401093948874126,0.8868375114440914,0.71338606911949],"aabb_xy":[[-0.20200492806644463,0.8788374313490009],[-0.18601695091103784,0.8948375915391816]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_31","position":[-0.6081860195837476,-1.2509082578545774,0.71338606911949],"aabb_xy":[[-0.628077059464088,-1.2635640691392744],[-0.5882949797034075,-1.2382524465698808]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_32","position":[-0.473246986020557,0.6691515453838863,0.71338606911949],"aabb_xy":[[-0.5532469829835962,0.5920759037401129],[-0.39324698905751776,0.7462271870276598]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.680422678003047,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1925.png","name":"1925"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1925.png","name":"1925"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1163.png","name":"1163"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1778.png","name":"1778"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2646.png","name":"2646"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9314.png","name":"9314"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":635.2194726626633,"rotation_z_degrees":242.87524820329924,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006403728362524026,0.007993378948505391,-0.004578471707531274]},{"name":"camera_2","offset_m":[-0.01874893999257862,0.0090854170497273,0.01634485722937577]},{"name":"camera_3","offset_m":[-0.004702248317009525,0.015389089588285273,-0.0018729647271201466]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[4.0990836722297214e-05,0.0016291387951716378,-0.0018979617419040095],"end_effector_yaw_offset_degrees":-0.6279667031781193},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014782187386393406,-0.0006547862424984717,-0.0001120390335581263],"end_effector_yaw_offset_degrees":0.4016577940580395},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019988892837014315,-8.954237639831461e-05,-0.0018076182765196806],"end_effector_yaw_offset_degrees":-0.9182463713741384}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00158183083657947,0.003713936673502247],"position_m":[0.3556818308365795,-0.08028606332649776,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0022100120298732297,0.0010525690366413876],"position_m":[0.27238998797012676,-0.3292474309633586,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004307021228487203,0.002502093749726566],"position_m":[0.1650070212284872,0.21670209374972657,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003348327922424785,-0.0037575631349897956],"position_m":[0.3474483279224248,0.11144243686501021,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"97d3852144a09291d817386031aadb37ebe9b9892f9e32b01300e372c4a9d55a","episode_index":16,"episode_name":"episode_0016"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0016.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_1925/tex_ceiling_textures_9314/tex_floor_textures_2646/tex_table_textures_1163/tex_wall_textures_1778","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":3381642322528719186,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":3381642322528719186,"visual_seed":3381642322528719186,"scene_id":"lab_003","finished_at":"2026-09-04T00:42:24"} +{"episode_id":"ep_000017","started_at":"2026-09-04T00:42:27","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_0","position":[0.024007439726157265,-1.4658337332150515,0.71338606911949],"aabb_xy":[[0.016013949930875238,-1.4738318651555273],[0.03200092952143929,-1.4578356012745761]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_1","position":[0.7160362263637077,-0.1312512510680377,0.71338606911949],"aabb_xy":[[0.7099415984755894,-0.13982064561970642],[0.722130854251826,-0.12268185651636898]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_2","position":[-0.3262939636809132,-0.12764405368727116,0.71338606911949],"aabb_xy":[[-0.33124998386579446,-0.1501440538893928],[-0.321337943496032,-0.10514405348514957]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_3","position":[0.6281541272050197,-2.4195346657426264,0.71338606911949],"aabb_xy":[[0.5681541273584529,-2.476353287935665],[0.6881541270515865,-2.3627160435495878]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_4","position":[0.6339849427018067,-1.0429377803112097,0.71338606911949],"aabb_xy":[[0.579011220665474,-1.0979377798754428],[0.6889586647381397,-0.9879377807469765]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_5","position":[-0.2162927269582774,1.092171552012276,0.71338606911949],"aabb_xy":[[-0.232354654416795,1.0071715501996839],[-0.20023079949975972,1.1771715538248675]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_6","position":[0.20193268423636435,-1.9457155080435284,0.71338606911949],"aabb_xy":[[0.15195939023310384,-1.9957155085980756],[0.25190597823962474,-1.8957155074889809]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_7","position":[0.5829525376716918,1.575599831885485,0.71338606911949],"aabb_xy":[[0.563840230313713,1.556465053008243],[0.6020648450296707,1.594734610762727]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_8","position":[-0.4336883414374731,1.264435458416361,0.71338606911949],"aabb_xy":[[-0.5136883394182581,1.2568339174545091],[-0.35368834345668804,1.272036999378213]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_9","position":[-0.38384543205417504,-1.3619615848965798,0.71338606911949],"aabb_xy":[[-0.44384543256202796,-1.4188083185825011],[-0.3238454315463221,-1.3051148512106585]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_10","position":[0.2742053477910592,-0.6337269975850368,0.71338606911949],"aabb_xy":[[0.20920534963514015,-0.660023242134949],[0.33920534594697827,-0.6074307530351246]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_11","position":[-0.05517013241798485,1.7010639139207595,0.71338606911949],"aabb_xy":[[-0.09017013239448068,1.6915992978731431],[-0.02017013244148902,1.7105285299683763]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_12","position":[-0.06750308729577459,1.3850885033059392,0.71338606911949],"aabb_xy":[[-0.1173857841734708,1.3350885040596645],[-0.01762039041807838,1.435088502552214]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_13","position":[0.29946309975753227,0.9416836420261392,0.71338606911949],"aabb_xy":[[0.26383394385757253,0.9060509752692862],[0.335092255657492,0.9773163087829921]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_14","position":[0.23765125706851842,1.4531717910571094,0.71338606911949],"aabb_xy":[[0.18765642414057682,1.4031717921618658],[0.28764608999646,1.503171789952353]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_15","position":[-0.3705907065825178,-0.7364372881424432,0.71338606911949],"aabb_xy":[[-0.3930907070945584,-0.7589291465078416],[-0.3480907060704772,-0.7139454297770449]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_16","position":[0.6308407545930053,-0.8680434179948762,0.71338606911949],"aabb_xy":[[0.6008731976831796,-0.8980434182927619],[0.6608083115028309,-0.8380434176969904]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_17","position":[-0.15432768934241436,-0.5170118586179222,0.71338606911949],"aabb_xy":[[-0.2093276889641602,-0.5719955514053949],[-0.09932768972066852,-0.4620281658304495]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_18","position":[0.5531425390510347,-1.842122315797866,0.71338606911949],"aabb_xy":[[0.5156425383864559,-1.8578093737980876],[0.5906425397156133,-1.8264352577976433]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_19","position":[-0.374793227149721,1.456205675118166,0.71338606911949],"aabb_xy":[[-0.3997932267014595,1.446063191253031],[-0.34979322759798254,1.4663481589833005]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_20","position":[-0.6161489174387556,0.6083550830257365,0.71338606911949],"aabb_xy":[[-0.6320334107040807,0.5940021427269124],[-0.6002644241734304,0.6227080233245605]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_21","position":[-0.0698243867149434,1.0988605594634877,0.71338606911949],"aabb_xy":[[-0.1598243834505536,1.0456770961461932],[0.020175610020666826,1.1520440227807822]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_22","position":[0.442283462759411,1.2426662578074419,0.71338606911949],"aabb_xy":[[0.3522834604253919,1.1651839032223292],[0.53228346509343,1.3201486123925545]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_23","position":[0.5232357479070011,-0.2929228913000208,0.71338606911949],"aabb_xy":[[0.45923574873723133,-0.3396895784189833],[0.5872357470767712,-0.24615620418105835]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_24","position":[0.3382801469382424,-1.2867764730106999,0.71338606911949],"aabb_xy":[[0.3182217353250021,-1.3068415599198577],[0.35833855855148267,-1.2667113861015424]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_25","position":[-0.05603597863136833,-0.3216360022290168,0.71338606911949],"aabb_xy":[[-0.10601339549662192,-0.3716360037182653],[-0.006058561766114751,-0.2716360007397682]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_26","position":[0.34257808585994165,-1.9134312686197885,0.71338606911949],"aabb_xy":[[0.3226870459796014,-1.9260870799044858],[0.3624691257402819,-1.9007754573350921]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_27","position":[-0.009754209955733839,-1.7006555459452966,0.71338606911949],"aabb_xy":[[-0.03225420976963622,-1.7051301623157773],[0.012745789858168544,-1.6961809295748158]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_28","position":[0.02202123598396677,-0.6826367539330482,0.71338606911949],"aabb_xy":[[-0.041978760443355134,-0.7298063777551447],[0.08602123241128867,-0.6354671301109518]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_29","position":[0.21778417148046403,-1.3283710764014245,0.71338606911949],"aabb_xy":[[0.18187066705547433,-1.364284584618179],[0.2536976759054537,-1.29245756818467]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6854193390188483,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6794.png","name":"6794"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6794.png","name":"6794"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3387.png","name":"3387"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2564.png","name":"2564"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8140.png","name":"8140"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6893.png","name":"6893"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":679.7562690626105,"rotation_z_degrees":180.1579385071057,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007130325679275042,-0.015749853825667723,0.004593875286801746]},{"name":"camera_2","offset_m":[0.016345828802492437,0.01920666277535835,0.0018791941928320496]},{"name":"camera_3","offset_m":[-0.004467780938356753,-0.011319026109498611,-0.015282977120709532]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001293127378773391,0.001691800571204854,-0.0008949481913494615],"end_effector_yaw_offset_degrees":0.07511096332550093},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00072460678322076,0.0010925820789340936,-0.0018703072586299667],"end_effector_yaw_offset_degrees":0.7573223887661464},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0001692929653941632,-0.0016522255198850627,-0.0009445429896873506],"end_effector_yaw_offset_degrees":-0.14296670898492092}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-5.1242948773446914e-05,0.000666426629275723],"position_m":[0.35404875705122657,-0.08333357337072428,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002788228438600728,-0.00023149442035811946],"position_m":[0.2773882284386007,-0.3305314944203581,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00442110829078934,-0.004716666294480773],"position_m":[0.15627889170921067,0.20948333370551922,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0007968968304893397,-0.004883399998379841],"position_m":[0.3433031031695107,0.11031660000162016,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5df6436acaad53a3cfe08f25660428b86853d1711120ac8417da73592538d378","episode_index":17,"episode_name":"episode_0017"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0017.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_6794/tex_ceiling_textures_6893/tex_floor_textures_8140/tex_table_textures_3387/tex_wall_textures_2564","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":5915758039694511747,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":5915758039694511747,"visual_seed":5915758039694511747,"scene_id":"lab_003","finished_at":"2026-09-04T00:45:12"} +{"episode_id":"ep_000018","started_at":"2026-09-04T00:45:16","dimensions":{"distractor":{"count":28,"items":[{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_0","position":[-0.511821116939963,-0.6803664523958799,0.71338606911949],"aabb_xy":[[-0.591821115596849,-0.6948713113201428],[-0.431821118283077,-0.6658615934716172]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_1","position":[-0.06914086979437828,-1.7823216099392485,0.71338606911949],"aabb_xy":[[-0.09542969411481894,-1.8085930435939],[-0.042852045473937624,-1.7560501762845975]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_2","position":[-0.5812513841277875,1.3582180357030977,0.71338606911949],"aabb_xy":[[-0.5987513834058743,1.3408799356367516],[-0.5637513848497006,1.3755561357694435]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_3","position":[-0.15180186081800462,1.8008570770230201,0.71338606911949],"aabb_xy":[[-0.1718602724312449,1.7807919901138625],[-0.13174344920476433,1.8209221639321773]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_4","position":[-0.6556738314780913,0.6509005769954963,0.71338606911949],"aabb_xy":[[-0.6778463584547422,0.628724909839373],[-0.6335013045014405,0.6730762441516194]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_5","position":[0.015611732216126661,1.568268085859978,0.71338606911949],"aabb_xy":[[-0.044388268035274514,1.5139867608235131],[0.07561173246752784,1.6225494108964424]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_6","position":[0.43340538752086455,1.6655087276282408,0.71338606911949],"aabb_xy":[[0.42636507758732767,1.5855087282285698],[0.44044569745440165,1.7455087270279126]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_7","position":[0.0702943528166653,-1.3970713117031517,0.71338606911949],"aabb_xy":[[0.05286363773765878,-1.4143434263670023],[0.08772506789567179,-1.3797991970393007]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_8","position":[0.5192080763532685,-0.6655373106722955,0.71338606911949],"aabb_xy":[[0.4642080781515236,-0.706059277298733],[0.5742080745550132,-0.6250153440458578]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_9","position":[-0.3612857184031222,-0.07052409905449952,0.71338606911949],"aabb_xy":[[-0.4512857169975921,-0.08677468536792056],[-0.27128571980865224,-0.054273512741078514]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_10","position":[-0.15649714753097255,-0.8865272056206335,0.71338606911949],"aabb_xy":[[-0.2114971471527184,-0.9415108984081061],[-0.1014971479092267,-0.8315435128331606]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_11","position":[-0.6164029847938424,1.5774516200843673,0.71338606911949],"aabb_xy":[[-0.633902985053179,1.563360077895595],[-0.5989029845345057,1.5915431622731402]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_12","position":[-0.3772534190558749,-0.3214062151853092,0.71338606911949],"aabb_xy":[[-0.4147534188729084,-0.32604442649645105],[-0.3397534192388413,-0.31676800387416737]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_13","position":[0.05323719260005777,1.2637611102970712,0.71338606911949],"aabb_xy":[[-0.010762810618580088,1.2170379983980628],[0.11723719581869563,1.3104842221960795]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_14","position":[0.4139888526855433,-1.1084622097043118,0.71338606911949],"aabb_xy":[[0.34898885412847047,-1.1382147431181944],[0.47898885124261614,-1.0787096762904291]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_15","position":[0.1103151807164281,-1.5019168722786673,0.71338606911949],"aabb_xy":[[0.10261199004235104,-1.5096262429774052],[0.11801837139050513,-1.4942075015799294]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_16","position":[-0.273074691189602,0.850521223520905,0.71338606911949],"aabb_xy":[[-0.33466545041359486,0.7865212254118582],[-0.21148393196560922,0.914521221629952]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_17","position":[0.24740603604367561,-0.7808489980519644,0.71338606911949],"aabb_xy":[[0.18340603534020625,-0.8268673805248855],[0.31140603674714495,-0.7348306155790434]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_18","position":[-0.11064849043047165,-1.5238091012992383,0.71338606911949],"aabb_xy":[[-0.12028012665090128,-1.5334464140789472],[-0.10101685421004204,-1.5141717885195294]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_19","position":[-0.4623383832259214,-1.700984665280866,0.71338606911949],"aabb_xy":[[-0.4748057413356571,-1.71344998991419],[-0.4498710251161858,-1.688519340647543]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_20","position":[0.18322060021639375,-2.28903531166054,0.71338606911949],"aabb_xy":[[0.1379419853352445,-2.3530353110087234],[0.228499215097543,-2.225035312312356]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_21","position":[0.2894570248835455,0.8346796915498644,0.71338606911949],"aabb_xy":[[0.25897277475651537,0.7846796917683685],[0.3199412750105757,0.8846796913313604]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_22","position":[0.34934767149384305,0.4340395211496042,0.71338606911949],"aabb_xy":[[0.3459069952537859,0.4301780881752397],[0.3527883477339002,0.4379009541239687]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_23","position":[-0.40928823775611567,-2.4658029315368983,0.71338606911949],"aabb_xy":[[-0.4174159259494289,-2.474716539947606],[-0.40116054956280245,-2.4568893231261906]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_24","position":[-0.02512523422014845,-1.9381015587964106,0.71338606911949],"aabb_xy":[[-0.0751252358816432,-1.988100001052113],[0.024874767441346306,-1.8881031165407076]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_25","position":[0.06380135536512099,0.8513870777050245,0.71338606911949],"aabb_xy":[[0.02630135418032818,0.8469688550089639],[0.10130135654991376,0.8558053004010849]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_26","position":[-0.6189168400940132,-1.515439112614906,0.71338606911949],"aabb_xy":[[-0.6355939760871085,-1.5321390365888365],[-0.6022397041009175,-1.498739188640976]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_27","position":[-0.3083998777024101,-0.8501154298933886,0.71338606911949],"aabb_xy":[[-0.34589987819976836,-0.854084113441507],[-0.2708998772050519,-0.8461467463452702]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6837811302506412,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4061.png","name":"4061"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4061.png","name":"4061"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4658.png","name":"4658"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3035.png","name":"3035"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1086.png","name":"1086"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2362.png","name":"2362"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":630.8190179277284,"rotation_z_degrees":19.540544111616196,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0044385252832099716,-0.005451181398429985,-0.0014343396159213068]},{"name":"camera_2","offset_m":[0.009664279580382077,0.014475400150594103,0.014102613502049468]},{"name":"camera_3","offset_m":[-0.01640955436399089,0.011338379175875452,-0.016939561856684885]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001871749701772543,0.0016268617447923943,-0.00011894904782367766],"end_effector_yaw_offset_degrees":-0.07990348820157767},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001835357096792408,-0.0010683031773505189,0.0011451052520966153],"end_effector_yaw_offset_degrees":0.0052030093160166935},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001949183743885658,-0.0014702793893918722,0.001453612926043923],"end_effector_yaw_offset_degrees":-0.8584488415062805}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00487918276430803,-0.002879029797112256],"position_m":[0.35897918276430807,-0.08687902979711226,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0020439204566219974,0.0018165847912292562],"position_m":[0.276643920456622,-0.3284834152087707,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0014176694791951175,-0.0039625298123582885],"position_m":[0.16211766947919512,0.21023747018764172,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003782912205493149,-0.00406855799175847],"position_m":[0.34031708779450687,0.11113144200824153,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1cf8153443e9edf9e3e79991971ebd8bc7744baa62c2890f0815fa77545078d8","episode_index":18,"episode_name":"episode_0018"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0018.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_4061/tex_ceiling_textures_2362/tex_floor_textures_1086/tex_table_textures_4658/tex_wall_textures_3035","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":2927881259176182584,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":2927881259176182584,"visual_seed":2927881259176182584,"scene_id":"lab_003","finished_at":"2026-09-04T00:47:57"} +{"episode_id":"ep_000019","started_at":"2026-09-04T00:48:00","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_0","position":[0.22319719509602465,-1.8823500567240101,0.71338606911949],"aabb_xy":[[0.15819719245823116,-1.933829655423457],[0.28819719773381813,-1.8308704580245632]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_1","position":[-0.027930168449128434,-2.2433679568651184,0.71338606911949],"aabb_xy":[[-0.05039493842053355,-2.2658679577439784],[-0.005465398477723312,-2.2208679559862574]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_2","position":[0.6015485130556635,-0.7312829904998315,0.71338606911949],"aabb_xy":[[0.5939242449654852,-0.7389162140363753],[0.6091727811458417,-0.7236497669632879]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_3","position":[0.5377685596560475,1.652891228361868,0.71338606911949],"aabb_xy":[[0.5021394037560878,1.6172585616050148],[0.5733977155560073,1.6885238951187207]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_4","position":[0.5408234361187727,-1.781150089222042,0.71338606911949],"aabb_xy":[[0.506526525101032,-1.815446975431983],[0.5751203471365132,-1.7468532030121005]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_5","position":[-0.027414788943069812,-0.9676989251468859,0.71338606911949],"aabb_xy":[[-0.10741478590610898,-1.0447745667906592],[0.052585208019969354,-0.8906232835031124]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_6","position":[0.12645831551145048,-0.7063811710664663,0.71338606911949],"aabb_xy":[[0.08895831516322272,-0.7181725666475499],[0.16395831585967824,-0.6945897754853828]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_7","position":[-0.6531020913460214,0.7386556906470152,0.71338606911949],"aabb_xy":[[-0.6706487862621403,0.7011556890827639],[-0.6355553964299024,0.7761556922112665]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_8","position":[0.30430485622865233,-1.2670895613433761,0.71338606911949],"aabb_xy":[[0.2593048547624235,-1.3120894182048568],[0.3493048576948812,-1.2220897044818955]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_9","position":[0.06345255035106512,1.3522828356082273,0.71338606911949],"aabb_xy":[[0.05151981598923705,1.339900682800368],[0.07538528471289319,1.3646649884160866]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_10","position":[0.2019105363529492,-0.9008668347510389,0.71338606911949],"aabb_xy":[[0.16759425917833126,-0.9508668347242167],[0.23622681352756714,-0.8508668347778613]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_11","position":[-0.419867254058934,1.4453444643863063,0.71338606911949],"aabb_xy":[[-0.43071886030780954,1.4344851736586555],[-0.40901564781005834,1.4562037551139575]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_12","position":[-0.06889228830341176,0.5698057021217351,0.71338606911949],"aabb_xy":[[-0.07280616149883429,0.5610566867151783],[-0.06497841510798924,0.5785547175282919]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_13","position":[0.6746783957389084,-1.5776046522488258,0.71338606911949],"aabb_xy":[[0.6698348009776787,-1.5824563047278102],[0.6795219905001386,-1.572752999769842]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_14","position":[-0.5353577871215498,-1.1394231578499552,0.71338606911949],"aabb_xy":[[-0.5616466114419904,-1.1656945915046064],[-0.509068962801109,-1.113151724195304]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_15","position":[-0.4942803425401988,1.812471923404185,0.71338606911949],"aabb_xy":[[-0.5055253981108165,1.8012301256800896],[-0.4830352869695809,1.8237137211282801]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_16","position":[0.49864480928887445,1.8248173733223871,0.71338606911949],"aabb_xy":[[0.49421417993403427,1.819369001587705],[0.5030754386437146,1.83026574505707]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_17","position":[-0.48678258275005026,0.8301668705876124,0.71338606911949],"aabb_xy":[[-0.4955846380590229,0.8223555444326832],[-0.4779805274410775,0.8379781967425414]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_18","position":[0.4395200343792176,-0.6406551599558183,0.71338606911949],"aabb_xy":[[0.4020200338818594,-0.6446238435039368],[0.4770200348765759,-0.6366864764076999]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_19","position":[0.41797995315061476,-0.9275970684316384,0.71338606911949],"aabb_xy":[[0.36788248916954114,-0.9915970689414502],[0.4680774171316884,-0.8635970679218266]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_20","position":[0.568862134895753,-0.014714068385572432,0.71338606911949],"aabb_xy":[[0.5088621346443518,-0.06899539342203709],[0.6288621351471542,0.039567256650892224]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_21","position":[-0.4606721258210175,-0.31225268250922955,0.71338606911949],"aabb_xy":[[-0.5106721253973523,-0.36223326146133555],[-0.41067212624468286,-0.26227210355712366]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_22","position":[-0.10585786689745802,-0.331441319104945,0.71338606911949],"aabb_xy":[[-0.12944299036135287,-0.3964413213503768],[-0.08227274343356318,-0.2664413168595132]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_23","position":[-0.32362754124808113,-1.3093087242231647,0.71338606911949],"aabb_xy":[[-0.3836275418440973,-1.3641211967683882],[-0.26362754065206495,-1.2544962516779412]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_24","position":[0.12679078007493527,1.6536563363003327,0.71338606911949],"aabb_xy":[[0.08945950354969265,1.6190032815054807],[0.1641220566001779,1.6883093910951852]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_25","position":[-0.36192205409949746,-1.9383576383541494,0.71338606911949],"aabb_xy":[[-0.3994220525228978,-1.9515218523219802],[-0.3244220556760971,-1.9251934243863187]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_26","position":[0.18873227685616611,0.7698282843160746,0.71338606911949],"aabb_xy":[[0.12473227517816876,0.7213108928367604],[0.25273227853416347,0.8183456757953889]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_27","position":[-0.19480287120922113,0.17981499914891774,0.71338606911949],"aabb_xy":[[-0.24479770413716273,0.1298150002536742],[-0.14480803828127953,0.22981499804416128]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_28","position":[-0.22485389634471675,-1.5667031753226577,0.71338606911949],"aabb_xy":[[-0.23621563099800288,-1.5780716417289458],[-0.21349216169143057,-1.5553347089163696]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_29","position":[0.4351106540392038,0.9487496957829054,0.71338606911949],"aabb_xy":[[0.41904872658068604,0.8637496939703134],[0.4511725814977213,1.033749697595497]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_30","position":[-0.014765335500167454,-1.6764435487854863,0.71338606911949],"aabb_xy":[[-0.09476533251441543,-1.6965781004588978],[0.06523466151408053,-1.6563089971120752]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_31","position":[0.3630080991211706,-1.0745248686094184,0.71338606911949],"aabb_xy":[[0.35767558446655767,-1.079849196854654],[0.36834061377578364,-1.0692005403641829]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_32","position":[-0.468551228132998,-1.4060179359046412,0.71338606911949],"aabb_xy":[[-0.4937720649928376,-1.4312416867575275],[-0.44333039127315826,-1.380794185051754]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_33","position":[0.005017022814051142,-2.327463623269368,0.71338606911949],"aabb_xy":[[-0.00842950381999219,-2.340933474922459],[0.018463549448094474,-2.313993771616276]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6849141527756364,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5570.png","name":"5570"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5570.png","name":"5570"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3841.png","name":"3841"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/372.png","name":"372"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9943.png","name":"9943"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6257.png","name":"6257"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":556.4871930248732,"rotation_z_degrees":44.189604446765884,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011786503063872075,-0.001211018786665588,0.01724720415073269]},{"name":"camera_2","offset_m":[0.0019224213559065582,-0.002728681627511418,-0.003814520035913066]},{"name":"camera_3","offset_m":[-0.014917094059945,-0.001073703220745341,0.0003260920508945421]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005312203053856831,0.0002771195130226423,-0.0011897844070059276],"end_effector_yaw_offset_degrees":0.6354213216191651},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0004596922428547715,-0.0015677453867887498,0.00026865798236016267],"end_effector_yaw_offset_degrees":0.9086895019044396},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0004227650196428137,-0.001238570893869783,-0.0018466105825139917],"end_effector_yaw_offset_degrees":0.2927166456016752}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0009597354090108805,-0.004821283194312135],"position_m":[0.3550597354090109,-0.08882128319431214,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0001796450651758187,-0.003892452146052754],"position_m":[0.2747796450651758,-0.33419245214605275,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004604366159252919,0.003795805669580362],"position_m":[0.1560956338407471,0.21799580566958035,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004055763085193809,-0.0024710532451450574],"position_m":[0.34004423691480623,0.11272894675485494,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"79f94f4125fa0273f1fda5d544320392b43e75195d4959df2e9ef80419b04a10","episode_index":19,"episode_name":"episode_0019"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0019.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_5570/tex_ceiling_textures_6257/tex_floor_textures_9943/tex_table_textures_3841/tex_wall_textures_372","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":3114042314033525935,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":3114042314033525935,"visual_seed":3114042314033525935,"scene_id":"lab_003","finished_at":"2026-09-04T00:50:40"} +{"episode_id":"ep_000020","started_at":"2026-09-04T00:50:43","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_0","position":[-0.11400764953262155,-0.39381599192393946,0.71338606911949],"aabb_xy":[[-0.13168328012121988,-0.41149620820334215],[-0.09633201894402321,-0.37613577564453665]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_1","position":[0.4680230356097912,1.3080255044321594,0.71338606911949],"aabb_xy":[[0.4040230352322576,1.2582802375813469],[0.5320230359873248,1.3577707712829714]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_2","position":[-0.19049909507971396,-1.7514378088621558,0.71338606911949],"aabb_xy":[[-0.20566196805665105,-1.766603266157275],[-0.17533622210277686,-1.7362723515670375]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_3","position":[0.4232334661945998,-1.4278993664302972,0.71338606911949],"aabb_xy":[[0.4178958905285952,-1.452899367359437],[0.42857104186060435,-1.4028993655011575]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_4","position":[0.12661147392591032,1.0177210712639386,0.71338606911949],"aabb_xy":[[0.0766272382177331,0.967721072450443],[0.17659570963408755,1.0677210700774342]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_5","position":[0.1301113976717838,1.6536859332656229,0.71338606911949],"aabb_xy":[[0.07511139947003899,1.6131639666391853],[0.18511139587352865,1.6942078998920604]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_6","position":[-0.6157627569898618,-1.3674248922258976,0.71338606911949],"aabb_xy":[[-0.6507627553005572,-1.3751399071494432],[-0.5807627586791663,-1.359709877302352]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_7","position":[0.44667375549355026,-2.0269919592806307,0.71338606911949],"aabb_xy":[[0.40390704861413007,-2.090991962702433],[0.48944046237297045,-1.9629919558588282]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_8","position":[-0.4655376409971179,0.6517223127425122,0.71338606911949],"aabb_xy":[[-0.5305376395541908,0.6219697793286295],[-0.40053764244004514,0.6814748461563948]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_9","position":[0.5403598155248452,-0.8892805054979922,0.71338606911949],"aabb_xy":[[0.5125147787442381,-0.920065004236304],[0.5682048523054524,-0.8584960067596806]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_10","position":[0.21412808147298945,1.499440672824727,0.71338606911949],"aabb_xy":[[0.2054301191822742,1.4873156985172524],[0.22282604376370477,1.511565647132202]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_11","position":[0.6427627651021346,-0.43654569121371933,0.71338606911949],"aabb_xy":[[0.5777627669462154,-0.46284193576363153],[0.7077627632580535,-0.41024944666380714]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_12","position":[0.34813310343770776,-0.676748014675004,0.71338606911949],"aabb_xy":[[0.30100372443587203,-0.7407480157194059],[0.3952624824395434,-0.6127480136306019]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_13","position":[-0.29664878728991256,0.4286765365851233,0.71338606911949],"aabb_xy":[[-0.33256229171490226,0.3927630283683686],[-0.26073528286492287,0.4645900448018778]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_14","position":[0.3485981758919896,-1.6328773730947055,0.71338606911949],"aabb_xy":[[0.2845981794964165,-1.6968406615134388],[0.4125981722875627,-1.5689140846759717]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_15","position":[-0.038744396749343935,-1.041147940084854,0.71338606911949],"aabb_xy":[[-0.05584647470771209,-1.0582547456161238],[-0.02164231879097578,-1.0240411345535843]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_16","position":[-0.536282893699135,-1.0543624002359164,0.71338606911949],"aabb_xy":[[-0.5912828933208809,-1.1093460930233892],[-0.4812828940773892,-0.9993787074484437]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_17","position":[-0.014580941649725676,-1.999237335055525,0.71338606911949],"aabb_xy":[[-0.0785809419237039,-2.0493034352528134],[0.049419058624252554,-1.9491712348582373]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_18","position":[-0.13143310261224483,-2.3876715522775465,0.71338606911949],"aabb_xy":[[-0.1457675277384083,-2.399731767832085],[-0.11709867748608138,-2.375611336723008]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_19","position":[0.346585506861099,1.0155439417627932,0.71338606911949],"aabb_xy":[[0.25689843055298356,0.9255439415083424],[0.43627258316921447,1.1055439420172435]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_20","position":[-0.18145908721627635,-2.2688036915545036,0.71338606911949],"aabb_xy":[[-0.2164590864090946,-2.279770737552166],[-0.14645908802345806,-2.257836645556841]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_21","position":[0.4752605987929348,1.6151647929241553,0.71338606911949],"aabb_xy":[[0.41526059793212194,1.5637383629176687],[0.5352605996537475,1.6665912229306414]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_22","position":[-0.560320793737322,0.3601353665275555,0.71338606911949],"aabb_xy":[[-0.5853207932890604,0.3499928826624208],[-0.5353207941855834,0.37027785039269023]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_23","position":[-0.01914987901516485,-2.3853728923952535,0.71338606911949],"aabb_xy":[[-0.023228036922214586,-2.389453872643517],[-0.015071721108115107,-2.38129191214699]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_24","position":[0.4998968817133542,-0.7361412010609663,0.71338606911949],"aabb_xy":[[0.46874996286977105,-0.8061411997477735],[0.5310438005569373,-0.6661412023741592]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6802978932069599,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1819.png","name":"1819"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1819.png","name":"1819"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/471.png","name":"471"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8899.png","name":"8899"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1892.png","name":"1892"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6137.png","name":"6137"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":688.2895487414693,"rotation_z_degrees":179.88032946790057,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005384546738498055,-0.001714750067274659,0.002911889418709252]},{"name":"camera_2","offset_m":[0.017947277812489396,-0.00413066099229821,0.014667322877723755]},{"name":"camera_3","offset_m":[0.019942636436429486,-0.01592114762657478,0.0051591111122197345]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017140480781166695,-0.0013634079042215345,0.000603359612541409],"end_effector_yaw_offset_degrees":-0.785741444590009},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006016316704143044,-0.0010251867901932225,-0.0017103634403755085],"end_effector_yaw_offset_degrees":0.04762461590381517},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009765021496981863,0.0003302815179935239,-0.0018980350740414984],"end_effector_yaw_offset_degrees":-0.9879554452213299}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0039689957292688574,-0.0015679269103383011],"position_m":[0.3501310042707312,-0.08556792691033831,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0019039566869477652,0.001865061918889928],"position_m":[0.27269604331305225,-0.3284349380811101,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0040756492860552175,0.002805158530598214],"position_m":[0.16477564928605523,0.2170051585305982,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0036670752405079535,0.002492357419531045],"position_m":[0.347767075240508,0.11769235741953105,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6fa060922a0d544062dc81b692ff360900bef0df04c028e37d7af11b1be9d517","episode_index":20,"episode_name":"episode_0020"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0020.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_1819/tex_ceiling_textures_6137/tex_floor_textures_1892/tex_table_textures_471/tex_wall_textures_8899","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":2915025896567862219,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":2915025896567862219,"visual_seed":2915025896567862219,"scene_id":"lab_003","finished_at":"2026-09-04T00:53:22"} +{"episode_id":"ep_000021","started_at":"2026-09-04T00:53:25","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_0","position":[0.06087599475702021,-2.04302942394072,0.71338606911949],"aabb_xy":[[0.04300688700256472,-2.056862331917931],[0.0787451025114757,-2.029196515963509]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_1","position":[-0.6525188953746481,0.5862748200897552,0.71338606911949],"aabb_xy":[[-0.693823438438384,0.5222748205216381],[-0.611214352310912,0.6502748196578723]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_2","position":[0.012269467145923252,-0.9716923050830424,0.71338606911949],"aabb_xy":[[-0.0777305351880958,-1.049174659668155],[0.10226946947994231,-0.8942099504979297]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_3","position":[-0.48313967219061793,1.416399278500823,0.71338606911949],"aabb_xy":[[-0.5206396720076514,1.411761067189681],[-0.4456396723735843,1.4210374898119646]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_4","position":[-0.019405431167006215,1.547491965847565,0.71338606911949],"aabb_xy":[[-0.055901251794284956,1.5110080234208072],[0.017090389460272526,1.5839759082743223]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_5","position":[-0.23444034232459815,-1.8493746481565794,0.71338606911949],"aabb_xy":[[-0.24047735532526288,-1.8554013492255281],[-0.22840332932393342,-1.8433479470876315]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_6","position":[0.2312932511411938,-1.4822390791331523,0.71338606911949],"aabb_xy":[[0.19027530775482293,-1.5322390797641097],[0.2723111945275647,-1.432239078502195]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_7","position":[-0.3904372151891197,1.546941789565952,0.71338606911949],"aabb_xy":[[-0.435715830070269,1.4829417902177684],[-0.34515860030797046,1.6109417889141358]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_8","position":[-0.3163018534253259,-0.24841660403296872,0.71338606911949],"aabb_xy":[[-0.3507642008234676,-0.28291048643079136],[-0.281839506027184,-0.213922721635146]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_9","position":[-0.005500164187948742,1.686718845787079,0.71338606911949],"aabb_xy":[[-0.023175794776547073,1.669038629507676],[0.012175466400649591,1.7043990620664815]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_10","position":[-0.5685742371041227,-1.5779071513309006,0.71338606911949],"aabb_xy":[[-0.5778678553412733,-1.6154071498190343],[-0.5592806188669721,-1.5404071528427665]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_11","position":[-0.5042230840769493,-0.11824020239921573,0.71338606911949],"aabb_xy":[[-0.5217230832113163,-0.12811982943680356],[-0.48672308494258204,-0.10836057536162791]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_12","position":[-0.5612834426829107,1.3414955705606664,0.71338606911949],"aabb_xy":[[-0.5857970667799165,1.3172309772586301],[-0.5367698185859048,1.365760163862703]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_13","position":[-0.5671223037901139,-1.131583901027783,0.71338606911949],"aabb_xy":[[-0.6311223010924601,-1.1759503279956396],[-0.5031223064877673,-1.087217474059926]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_14","position":[0.34797448139513576,-2.283747432361535,0.71338606911949],"aabb_xy":[[0.3266964732516635,-2.3487474346876076],[0.369252489538608,-2.2187474300354615]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_15","position":[-0.43348906584544283,0.5583336396343634,0.71338606911949],"aabb_xy":[[-0.5234890695223611,0.49690123305725886],[-0.34348906216852465,0.6197660462114676]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_16","position":[-0.5339297041268771,-0.5394231032445878,0.71338606911949],"aabb_xy":[[-0.5714297027024978,-0.5521593989081457],[-0.49642970555125626,-0.5266868075810298]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_17","position":[0.29981008623955074,-0.531152363197001,0.71338606911949],"aabb_xy":[[0.2828993538032089,-0.5446245687896154],[0.31672081867589247,-0.5176801576043863]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_18","position":[0.5470904089830466,-2.358322049908761,0.71338606911949],"aabb_xy":[[0.49928424136927785,-2.4233220526158195],[0.5948965765968152,-2.2933220472017015]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_19","position":[-0.48532274205300735,0.2233027288078815,0.71338606911949],"aabb_xy":[[-0.5221732899899949,0.1858027279848478],[-0.4484721941160197,0.2608027296309152]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_20","position":[-0.4434309629426175,0.39505033530594424,0.71338606911949],"aabb_xy":[[-0.46100926513156437,0.37747584573183934],[-0.4258526607536707,0.41262482488004915]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_21","position":[-0.5923692379326301,0.037301102541397846,0.71338606911949],"aabb_xy":[[-0.6052411414335702,-0.04269889787243829],[-0.5794973344316899,0.117301102955234]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_22","position":[0.41736244321286553,0.7174342007074932,0.71338606911949],"aabb_xy":[[0.40933617258223953,0.7086827057301406],[0.42538871384349153,0.7261856956848458]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_23","position":[-0.3440970654838828,1.3037788808726374,0.71338606911949],"aabb_xy":[[-0.35137938186054635,1.213778877263128],[-0.33681474910721904,1.393778884482146]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_24","position":[-0.1236222482224476,0.078356164513806,0.71338606911949],"aabb_xy":[[-0.17861449885795858,0.023356162770493242],[-0.06862999758693668,0.1333561662571188]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_25","position":[-0.2425866339768623,1.0743005342278669,0.71338606911949],"aabb_xy":[[-0.32758663239428554,0.9894262387655821],[-0.1575866355594391,1.159174829690152]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_26","position":[-0.33834378760286676,-2.426891545309343,0.71338606911949],"aabb_xy":[[-0.34247964393556696,-2.4643915447537004],[-0.33420793127016657,-2.3893915458649864]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_27","position":[-0.3435339584215262,0.8028241376433765,0.71338606911949],"aabb_xy":[[-0.3935339594406615,0.7663579219055486],[-0.2935339574023909,0.8392903533812045]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_28","position":[0.5292615967182421,1.6549815003814943,0.71338606911949],"aabb_xy":[[0.46426159883659435,1.6038578366749536],[0.5942615945998899,1.7061051640880354]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6837870556649925,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3366.png","name":"3366"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3366.png","name":"3366"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5805.png","name":"5805"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5966.png","name":"5966"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/640.png","name":"640"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6028.png","name":"6028"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":838.8030823371179,"rotation_z_degrees":18.04019847125459,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018068204337284403,-0.016862192431082338,-0.008831357379483378]},{"name":"camera_2","offset_m":[-0.0022492902101244674,-0.00497167618169689,-0.006928329518636903]},{"name":"camera_3","offset_m":[-0.011592185877392561,0.0035358489166795286,0.0030516261231587766]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0003407519862078049,-0.00171969688944841,-0.0005608253783002772],"end_effector_yaw_offset_degrees":-0.21140983303270455},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012924854840581051,0.0018221141944880477,-9.717030589577783e-05],"end_effector_yaw_offset_degrees":0.7704559196302307},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00048303601583408367,-0.00010837324454280239,0.0013163796415104293],"end_effector_yaw_offset_degrees":0.020932477226974555}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0004945535688473824,0.00303392925152821],"position_m":[0.35360544643115266,-0.0809660707484718,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-9.468735693186296e-05,-0.0020701327751799317],"position_m":[0.27450531264306816,-0.3323701327751799,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0017457907168008093,0.0013335063725838326],"position_m":[0.1589542092831992,0.21553350637258384,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0020748493010364177,0.004751007492431076],"position_m":[0.3420251506989636,0.11995100749243107,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"48ec9695c36d63c14ae5de9409f5c00d6b820476a85e83ea98be8608fd2729bf","episode_index":21,"episode_name":"episode_0021"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0021.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_3366/tex_ceiling_textures_6028/tex_floor_textures_640/tex_table_textures_5805/tex_wall_textures_5966","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":8924341903223122125,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":8924341903223122125,"visual_seed":8924341903223122125,"scene_id":"lab_003","finished_at":"2026-09-04T00:56:18"} +{"episode_id":"ep_000022","started_at":"2026-09-04T00:56:21","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_0","position":[0.3636482304678992,-1.778951705951799,0.71338606911949],"aabb_xy":[[0.3461482302085626,-1.793043248140572],[0.3811482307272359,-1.7648601637630268]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_1","position":[0.6713739793933127,-2.2466175169536626,0.71338606911949],"aabb_xy":[[0.6633477087626867,-2.2553690119310157],[0.6794002500239387,-2.2378660219763105]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_2","position":[0.2608984346054519,1.2481599658652653,0.71338606911949],"aabb_xy":[[0.255565919950839,1.24283563762003],[0.26623094926006496,1.253484294110501]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_3","position":[0.5537209892893542,1.5947575178900988,0.71338606911949],"aabb_xy":[[0.503721714120918,1.5447575166141516],[0.6037202644577904,1.644757519166046]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_4","position":[0.6130059738638716,-0.5326594292984748,0.71338606911949],"aabb_xy":[[0.5230059744455006,-0.5660349261426644],[0.7030059732822423,-0.49928393245428493]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_5","position":[-0.6309467310131727,-0.20911482912006196,0.71338606911949],"aabb_xy":[[-0.6949424284082693,-0.27311482742077065],[-0.5669510336180761,-0.14511483081935328]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_6","position":[0.4503398509127461,0.934713884207111,0.71338606911949],"aabb_xy":[[0.41283984972795323,0.9302956615110503],[0.48783985209753883,0.9391321069031713]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_7","position":[0.461633460725674,-1.184648565714273,0.71338606911949],"aabb_xy":[[0.4241334621500532,-1.1973848613778308],[0.4991334593012948,-1.171912270050715]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_8","position":[0.33829260512922943,-1.6573406127461818,0.71338606911949],"aabb_xy":[[0.29048643751546077,-1.7223406154532406],[0.38609877274299803,-1.5923406100391226]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_9","position":[-0.469051648441136,-0.11585632830627457,0.71338606911949],"aabb_xy":[[-0.49155164895317655,-0.13834818667167292],[-0.44655164792909535,-0.0933644699408762]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_10","position":[-0.4806625183823282,-0.7451095555902458,0.71338606911949],"aabb_xy":[[-0.544662517552098,-0.7918762427092082],[-0.41666251921255826,-0.6983428684712832]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_11","position":[0.6078117023687808,-0.33727868978996867,0.71338606911949],"aabb_xy":[[0.570311700853149,-0.3485054628061137],[0.6453117038844124,-0.3260519167738236]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_12","position":[-0.22328666590930724,1.4922909728587723,0.71338606911949],"aabb_xy":[[-0.24108017284422367,1.4744912272629747],[-0.2054931589743908,1.51009071845457]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_13","position":[0.2914974161643322,-0.7534321192578595,0.71338606911949],"aabb_xy":[[0.20149741756986228,-0.7696827055712806],[0.38149741475880217,-0.7371815329444386]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_14","position":[0.43440448065609827,0.2632166304165131,0.71338606911949],"aabb_xy":[[0.41552009688758806,0.24433070563616033],[0.4532888644246085,0.2821025551968659]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_15","position":[-0.6568280971043481,-1.926532865915054,0.71338606911949],"aabb_xy":[[-0.6692954552140838,-1.9389981905483777],[-0.6443607389946125,-1.9140675412817307]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_16","position":[0.5116492414946527,-1.7864618487869248,0.71338606911949],"aabb_xy":[[0.4766492431839572,-1.7941768637104705],[0.5466492398053481,-1.7787468338633792]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_17","position":[-0.5982602972423641,0.5567233865030738,0.71338606911949],"aabb_xy":[[-0.6325572082601044,0.5224265002931324],[-0.5639633862246233,0.591020272713015]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_18","position":[0.10745767674978868,-1.2649509615436754,0.71338606911949],"aabb_xy":[[0.06995767608520996,-1.280638019543897],[0.14495767741436735,-1.2492639035434527]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_19","position":[0.4856874072787336,-2.323899709186319,0.71338606911949],"aabb_xy":[[0.4812567779238935,-2.3293480809210014],[0.49011803663357384,-2.3184513374516365]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_20","position":[0.04377521851288424,-1.031004563163745,0.71338606911949],"aabb_xy":[[-0.020224780073688213,-1.0780115265632537],[0.1077752170994567,-0.9839975997642363]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_21","position":[0.3266456349905087,0.7267397272343796,0.71338606911949],"aabb_xy":[[0.2766613992823315,0.676739728420884],[0.376629870698686,0.7767397260478752]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_22","position":[-0.27298639886915793,-0.2576207183072299,0.71338606911949],"aabb_xy":[[-0.3190714901238894,-0.32162071555978494],[-0.22690130761442648,-0.19362072105467473]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_23","position":[-0.3101941097071468,0.42856961003111893,0.71338606911949],"aabb_xy":[[-0.3277408046232657,0.3910696084668677],[-0.29264741479102785,0.46606961159537025]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_24","position":[-0.03984924473689033,-2.1166008098761893,0.71338606911949],"aabb_xy":[[-0.06507008159672999,-2.141824560729076],[-0.014628407877050663,-2.091377059023302]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_25","position":[-0.3535352228038945,-1.8706186129886349,0.71338606911949],"aabb_xy":[[-0.36081753918055803,-1.9606186165981436],[-0.3462529064272307,-1.7806186093791256]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_26","position":[-0.6216489145525778,1.2274851074300948,0.71338606911949],"aabb_xy":[[-0.6541106154345051,1.1973522753151917],[-0.5891872136706502,1.257617939544997]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_27","position":[-0.5434078514362475,-1.1707169739533072,0.71338606911949],"aabb_xy":[[-0.5504481613697846,-1.2507169733529788],[-0.5363675415027106,-1.090716974553636]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6777202883518865,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1613.png","name":"1613"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1613.png","name":"1613"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5775.png","name":"5775"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/545.png","name":"545"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6057.png","name":"6057"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8468.png","name":"8468"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":813.7475425561936,"rotation_z_degrees":210.790216043248,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016453478539324936,-0.014313488221015854,-0.010978683144685393]},{"name":"camera_2","offset_m":[-0.011853146445447486,0.004909107501651192,-0.009807405572111395]},{"name":"camera_3","offset_m":[-0.004459446663922005,0.015266807659797623,-0.015487895707208273]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001433512581665579,0.0014206190633446205,0.001095251885284942],"end_effector_yaw_offset_degrees":0.2340273220986866},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0007156519833817305,5.031753505978882e-05,0.0003048422536079242],"end_effector_yaw_offset_degrees":-0.17403237343584088},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-7.860766957106034e-05,-0.0016908844602974344,-0.0018299437977354715],"end_effector_yaw_offset_degrees":-0.06666106375511083}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002075714714974378,0.00047002912028471476],"position_m":[0.35202428528502566,-0.0835299708797153,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003243769517786359,0.004779278871067019],"position_m":[0.27135623048221363,-0.325520721128933,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0013733042757831668,0.0013767011127308647],"position_m":[0.16207330427578318,0.21557670111273086,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0048584157159697735,-0.003208248918088614],"position_m":[0.33924158428403023,0.11199175108191138,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"89c6c2ab2d36907b44d4cdd465686d1a7f576c5877720d1bfd1044187a97aa1f","episode_index":22,"episode_name":"episode_0022"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0022.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_1613/tex_ceiling_textures_8468/tex_floor_textures_6057/tex_table_textures_5775/tex_wall_textures_545","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":2659824643036091892,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":2659824643036091892,"visual_seed":2659824643036091892,"scene_id":"lab_003","finished_at":"2026-09-04T00:59:10"} +{"episode_id":"ep_000023","started_at":"2026-09-04T00:59:13","dimensions":{"distractor":{"count":21,"items":[{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_0","position":[0.5288725111977182,-0.5021110107404576,0.71338606911949],"aabb_xy":[[0.49183840176965843,-0.536488218074167],[0.5659066206257779,-0.46773380340674814]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_1","position":[-0.20535803055294982,-2.436895911222482,0.71338606911949],"aabb_xy":[[-0.24285803134494524,-2.443263752180672],[-0.16785802976095435,-2.4305280702642915]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_2","position":[0.22267257762334758,-1.3180937118986402,0.71338606911949],"aabb_xy":[[0.17554319862151185,-1.3820937129430417],[0.2698019566251832,-1.2540937108542378]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_3","position":[0.1532832994146932,0.9215535663432126,0.71338606911949],"aabb_xy":[[0.09828330121294838,0.881031599716775],[0.20828329761643805,0.9620755329696502]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_4","position":[0.624635050810129,-2.48083067832984,0.71338606911949],"aabb_xy":[[0.6205191006980563,-2.484946233362685],[0.6287510009222016,-2.476715123296994]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_5","position":[-0.624086020822348,-1.786402910044715,0.71338606911949],"aabb_xy":[[-0.6651039642087189,-1.8364029106756723],[-0.5830680774359771,-1.7364029094137576]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_6","position":[-0.1755163303624775,-0.3854327983005965,0.71338606911949],"aabb_xy":[[-0.2182830372418977,-0.449432801722399],[-0.13274962348305733,-0.3214327948787941]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_7","position":[0.5987161648803385,-1.6512477698695256,0.71338606911949],"aabb_xy":[[0.5945803085476384,-1.6887477693138828],[0.6028520212130388,-1.6137477704251688]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_8","position":[0.6788857855472121,1.5080726039316246,0.71338606911949],"aabb_xy":[[0.6464240846652846,1.4779397718167213],[0.7113474864291395,1.5382054360465265]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_9","position":[-0.1778523684051252,-2.3099060027061062,0.71338606911949],"aabb_xy":[[-0.18655033069584048,-2.322030977013581],[-0.1691544061144099,-2.2977810283986315]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_10","position":[0.21212871343921902,-1.67355396805003,0.71338606911949],"aabb_xy":[[0.14812871704364594,-1.7375172564687635],[0.2761287098347921,-1.6095906796312964]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_11","position":[-0.35627089114667404,0.8918153965310687,0.71338606911949],"aabb_xy":[[-0.3671224973955497,0.8809561058034177],[-0.3454192848977985,0.9026746872587197]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_12","position":[-0.34291016301072164,0.43380949305263794,0.71338606911949],"aabb_xy":[[-0.38041016295448804,0.4255164030178014],[-0.30541016306695523,0.4421025830874746]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_13","position":[-0.6156238005987587,1.278418774535929,0.71338606911949],"aabb_xy":[[-0.6651042218127176,1.2144187766230772],[-0.5661433793848,1.3424187724487808]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_14","position":[0.6870950880192028,-2.5576935768350824,0.71338606911949],"aabb_xy":[[0.6727606628930394,-2.569753792389621],[0.7014295131453663,-2.5456333612805437]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_15","position":[-0.6074766779501533,-0.2278606816547324,0.71338606911949],"aabb_xy":[[-0.6674766782015543,-0.28214200669119704],[-0.547476677698752,-0.17357935661826773]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_16","position":[-0.028092504024369802,1.676758939974199,0.71338606911949],"aabb_xy":[[-0.07806556955688528,1.6267589401616667],[0.02188056150814566,1.7267589397867324]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_17","position":[0.5687947013196266,1.4683164256161327,0.71338606911949],"aabb_xy":[[0.5583831426391428,1.4629706922802344],[0.5792062600001102,1.4736621589520311]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_18","position":[0.6646112218658673,0.9705325077047191,0.71338606911949],"aabb_xy":[[0.642111221622352,0.958327873044947],[0.6871112221093828,0.982737142364491]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_19","position":[-0.5248184934317838,-0.9850837174069347,0.71338606911949],"aabb_xy":[[-0.5498184927037459,-1.0014290810030966],[-0.49981849415982144,-0.9687383538107721]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_20","position":[0.6829176062676428,-0.5789558869374392,0.71338606911949],"aabb_xy":[[0.6715558716143566,-0.5903243533437271],[0.6942793409209289,-0.567587420531151]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6846269836931047,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7505.png","name":"7505"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7505.png","name":"7505"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3047.png","name":"3047"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9409.png","name":"9409"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5810.png","name":"5810"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/44.png","name":"44"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":806.1938605337547,"rotation_z_degrees":205.61245706931246,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010897097356115725,0.010776906508754677,0.012282495879922393]},{"name":"camera_2","offset_m":[-0.009617404013899763,-0.010491586402567822,0.005389310635461313]},{"name":"camera_3","offset_m":[0.004288664471496277,0.004569172733329626,0.005676444356938572]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017319676142995726,0.0012238666463377373,0.00019242013047972078],"end_effector_yaw_offset_degrees":-0.621981795531696},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0003150475305966206,0.0012325688780959495,-0.0009218160980043395],"end_effector_yaw_offset_degrees":0.2544884747947571},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0012643241100408964,0.001200636489398586,0.001919547138436335],"end_effector_yaw_offset_degrees":0.02487199086296421}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00012051212192094613,-0.003696102731912102],"position_m":[0.3539794878780791,-0.08769610273191211,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0028905909495219777,0.0016016644633301668],"position_m":[0.277490590949522,-0.32869833553666983,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004165287041042315,0.003983716182822199],"position_m":[0.15653471295895768,0.2181837161828222,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0017038014830663374,0.0001141474803632225],"position_m":[0.3423961985169337,0.11531414748036321,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d47b21608814e801fdab95833de5b1f9ec7414c1ae9449bdd5c3534b328cacea","episode_index":23,"episode_name":"episode_0023"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0023.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_7505/tex_ceiling_textures_44/tex_floor_textures_5810/tex_table_textures_3047/tex_wall_textures_9409","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":7025257275552516384,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":7025257275552516384,"visual_seed":7025257275552516384,"scene_id":"lab_003","finished_at":"2026-09-04T01:01:52"} +{"episode_id":"ep_000024","started_at":"2026-09-04T01:01:55","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_0","position":[-0.08209993958910955,-1.6601665957507485,0.71338606911949],"aabb_xy":[[-0.11074927194952576,-1.6888121550278243],[-0.05345060722869331,-1.6315210364736727]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_1","position":[0.2002115298964009,0.5626966104193438,0.71338606911949],"aabb_xy":[[0.19218525926577495,0.5539451154419912],[0.20823780052702695,0.5714481053966964]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_2","position":[-0.5407183946741642,0.18723307101305586,0.71338606911949],"aabb_xy":[[-0.6007183952701804,0.13242059846783238],[-0.4807183940781481,0.24204554355827934]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_3","position":[0.6859516719403627,-0.7871452211610614,0.71338606911949],"aabb_xy":[[0.6818158156076625,-0.8246452206054184],[0.6900875282730629,-0.7496452217167044]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_4","position":[0.1736798245094563,-1.1212019496466925,0.71338606911949],"aabb_xy":[[0.1585169515325192,-1.1363674069418113],[0.1888426974863934,-1.1060364923515738]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_5","position":[-0.5092708673611765,1.3649669774919926,0.71338606911949],"aabb_xy":[[-0.5201224736100521,1.3541076867643416],[-0.49841926111230095,1.3758262682196436]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_6","position":[-0.3780890760234793,-1.1632545587066665,0.71338606911949],"aabb_xy":[[-0.468089072524351,-1.2091662011251247],[-0.2880890795226075,-1.1173429162882083]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_7","position":[0.6811380928180333,-1.4347151915820686,0.71338606911949],"aabb_xy":[[0.658624400994576,-1.504715192183076],[0.7036517846414904,-1.3647151909810609]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_8","position":[0.3922038017013765,-0.47896989911767207,0.71338606911949],"aabb_xy":[[0.3553532537643888,-0.5164698999407058],[0.42905434963836403,-0.44146989829463834]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_9","position":[-0.3464713860988142,-0.8246485649170172,0.71338606911949],"aabb_xy":[[-0.4264713882615767,-0.9046037485431608],[-0.26647138393605174,-0.7446933812908736]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_10","position":[-0.5448807437505895,-0.2679393945667381,0.71338606911949],"aabb_xy":[[-0.5748483006604151,-0.2979393948646239],[-0.5149131868407638,-0.2379393942688524]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_11","position":[-0.10848373690719137,-0.20530684080774675,0.71338606911949],"aabb_xy":[[-0.11343975709207257,-0.2278068410098684],[-0.10352771672231018,-0.18280684060562513]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_12","position":[-0.5030677100190029,-1.8799523477696254,0.71338606911949],"aabb_xy":[[-0.5266528334828977,-1.9449523500150572],[-0.479482586555108,-1.8149523455241936]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_13","position":[0.2856020543201604,0.890433287462999,0.71338606911949],"aabb_xy":[[0.22160205515039047,0.8436666003440366],[0.34960205348993034,0.9371999745819616]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_14","position":[0.5407355604797115,0.8392673303367033,0.71338606911949],"aabb_xy":[[0.5325210153640274,0.8305907400390617],[0.5489501055953954,0.8479439206343444]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_15","position":[0.5273447353158613,-0.8715472705181095,0.71338606911949],"aabb_xy":[[0.512172566034228,-0.8867161274463129],[0.5425169045974947,-0.8563784135899062]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_16","position":[-0.14116024190221943,-1.375126544818907,0.71338606911949],"aabb_xy":[[-0.21116024453880577,-1.3952314098147722],[-0.07116023926563309,-1.3550216798230412]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_17","position":[0.45700859589619913,-1.9740957441775158,0.71338606911949],"aabb_xy":[[0.44692688881762554,-2.05409574206963],[0.4670903029747725,-1.894095746285401]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_18","position":[0.15835683237710585,1.7080640915250247,0.71338606911949],"aabb_xy":[[0.09835683073418403,1.6560639422330805],[0.21835683402002773,1.7600642408169689]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_19","position":[0.4865404645777658,-0.28711223597114,0.71338606911949],"aabb_xy":[[0.44377375769834565,-0.35111223939294245],[0.529307171457186,-0.22311223254933754]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_20","position":[0.5688805573625635,0.6451655942002694,0.71338606911949],"aabb_xy":[[0.49888055555381816,0.623811825436082],[0.638880559171309,0.6665193629644568]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_21","position":[-0.16726591922643064,-0.8249831031057522,0.71338606911949],"aabb_xy":[[-0.1847659185045175,-0.842321203172098],[-0.14976591994834376,-0.8076450030394061]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_22","position":[-0.3556731849355542,1.6040179618034327,0.71338606911949],"aabb_xy":[[-0.3670349195888403,1.5926494953971442],[-0.344311450282268,1.6153864282097203]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_23","position":[0.49610096668682013,-1.650932567731954,0.71338606911949],"aabb_xy":[[0.48883971911641283,-1.6637195779954637],[0.5033622142572277,-1.6381455574684447]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_24","position":[-0.30975515522987174,0.7602280806095374,0.71338606911949],"aabb_xy":[[-0.32863953899838194,0.7413421558291847],[-0.29087077146136153,0.7791140053898903]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_25","position":[-0.6369973343844598,0.3387347734309656,0.71338606911949],"aabb_xy":[[-0.6449206146232082,0.3162347731929622],[-0.6290740541457115,0.36123477366896894]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_26","position":[-0.5709855365867472,-1.171838936465133,0.71338606911949],"aabb_xy":[[-0.6095312294119483,-1.2103847075213214],[-0.5324398437615462,-1.133293165408944]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_27","position":[-0.22541928050931986,1.6765018836048875,0.71338606911949],"aabb_xy":[[-0.2894192769366418,1.6293322597827913],[-0.161419284081998,1.7236715074269842]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_28","position":[-0.3705268118568697,0.12288086789514363,0.71338606911949],"aabb_xy":[[-0.3883203187917862,0.10508112229934596],[-0.3527333049219533,0.1406806134909413]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_29","position":[0.4935537257012492,-0.6733009009447322,0.71338606911949],"aabb_xy":[[0.4901130494611921,-0.6771623339190967],[0.49699440194130645,-0.6694394679703678]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_30","position":[0.17799167214818623,0.7220743246613575,0.71338606911949],"aabb_xy":[[0.14800000941431588,0.6920743253245568],[0.20798333488205653,0.7520743239981579]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_31","position":[0.2140953681951624,-1.6582429917278552,0.71338606911949],"aabb_xy":[[0.1540953679437612,-1.7125243167643196],[0.27409536844656357,-1.6039616666913903]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6847120552465725,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3626.png","name":"3626"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3626.png","name":"3626"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8756.png","name":"8756"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/180.png","name":"180"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4016.png","name":"4016"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4946.png","name":"4946"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":752.9951007655859,"rotation_z_degrees":66.96460220833336,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011807710700218504,-0.001580396763943722,0.004802799352205241]},{"name":"camera_2","offset_m":[-0.0018089822731980655,-0.017828568731456995,-0.01138777919582481]},{"name":"camera_3","offset_m":[0.014949004074523823,-0.010214809469349011,0.014256918256327054]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00015679053097742432,0.0014428019602062614,-0.0019870820872041214],"end_effector_yaw_offset_degrees":-0.2927245909769236},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016077313978216199,-0.0006868935532615211,-0.0013720536647604047],"end_effector_yaw_offset_degrees":0.8494668789192115},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0002706299467865286,0.00023795817142048103,0.0011601850257590292],"end_effector_yaw_offset_degrees":0.9514038111204002}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002474386021977101,-0.0003673789889509201],"position_m":[0.3565743860219771,-0.08436737898895093,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00048282254308178,-0.002934473480876669],"position_m":[0.2750828225430818,-0.33323447348087665,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0012372926648256,-0.004597755968975988],"position_m":[0.1594627073351744,0.209602244031024,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0030894064206654125,0.0003771904646687708],"position_m":[0.3471894064206654,0.11557719046466877,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"34ff2992a69763dfbb3ae201b0c344d0c16f64ced4649100af95759a02cc734a","episode_index":24,"episode_name":"episode_0024"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0024.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_3626/tex_ceiling_textures_4946/tex_floor_textures_4016/tex_table_textures_8756/tex_wall_textures_180","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":4055583737786890038,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":4055583737786890038,"visual_seed":4055583737786890038,"scene_id":"lab_003","finished_at":"2026-09-04T01:04:40"} +{"episode_id":"ep_000025","started_at":"2026-09-04T01:04:43","dimensions":{"distractor":{"count":27,"items":[{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_0","position":[-0.5833229043046224,-2.1848768664452773,0.71338606911949],"aabb_xy":[[-0.6183229034974406,-2.1958439124429394],[-0.548322905111804,-2.1739098204476144]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_1","position":[0.6691300664429638,-0.5091408857869499,0.71338606911949],"aabb_xy":[[0.6446164423459579,-0.5334054790889864],[0.6936436905399697,-0.4848762924849135]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_2","position":[-0.6620925043969337,-1.7061380092726783,0.71338606911949],"aabb_xy":[[-0.6920600613067593,-1.736138009570564],[-0.632124947487108,-1.6761380089747926]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_3","position":[0.26111900274470623,1.0817149230503107,0.71338606911949],"aabb_xy":[[0.1961190017442057,1.0309285578956358],[0.32611900374520675,1.1325012882049856]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_4","position":[0.4653127275127491,-1.72272328499158,0.71338606911949],"aabb_xy":[[0.41032047687723816,-1.7777232867348929],[0.52030497814826,-1.6677232832482674]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_5","position":[0.11029100590386964,1.6027890730837409,0.71338606911949],"aabb_xy":[[0.05627540962196963,1.5387890701914835],[0.16430660218576965,1.6667890759759978]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_6","position":[0.6232066203913027,1.3155789328205434,0.71338606911949],"aabb_xy":[[0.5592066232791971,1.2665465630261328],[0.6872066175034085,1.364611302614954]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_7","position":[0.6632608775412465,-1.872702503226467,0.71338606911949],"aabb_xy":[[0.658625762389013,-1.8765698383036156],[0.6678959926934798,-1.868835168149318]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_8","position":[-0.5494637005768729,1.2120278768111183,0.71338606911949],"aabb_xy":[[-0.5723794134619229,1.1891235796746948],[-0.5265479876918231,1.2349321739475418]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_9","position":[0.5085737829062358,-2.2887430346810764,0.71338606911949],"aabb_xy":[[0.49542253693494653,-2.3137430344377634],[0.5217250288775253,-2.2637430349243903]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_10","position":[-0.009999170475418095,-1.6234992540932893,0.71338606911949],"aabb_xy":[[-0.07999917207769758,-1.6369320472949467],[0.06000083112686139,-1.6100664608916315]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_11","position":[-0.244384698349073,0.7582145454290452,0.71338606911949],"aabb_xy":[[-0.3043846988569259,0.7013678117431238],[-0.18438469784122002,0.8150612791149664]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_12","position":[-0.287778122663302,1.55874018721534,0.71338606911949],"aabb_xy":[[-0.3517781245756444,1.5028290379573297],[-0.2237781207509597,1.6146513364733506]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_13","position":[-0.24399329598627917,-0.13628661142385257,0.71338606911949],"aabb_xy":[[-0.26648971742014327,-0.1587866112306],[-0.2214968745524151,-0.11378661161710513]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_14","position":[-0.23090779111092907,-1.592903402598699,0.71338606911949],"aabb_xy":[[-0.2388310713496774,-1.6154034028367026],[-0.22298451087218074,-1.5704034023606959]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_15","position":[-0.6231470971401515,-1.2660700584869276,0.71338606911949],"aabb_xy":[[-0.6410162048946071,-1.2799029664641384],[-0.6052779893856961,-1.2522371505097167]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_16","position":[0.49769537124857366,1.209470596181121,0.71338606911949],"aabb_xy":[[0.47990186431365733,1.1916708505853233],[0.5154888781834902,1.2272703417769186]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_17","position":[-0.3063103852794933,-0.9315775775369346,0.71338606911949],"aabb_xy":[[-0.32989550874338813,-0.9965775797823663],[-0.2827252618155984,-0.8665775752915027]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_18","position":[0.5338598873862639,-1.3297596181345532,0.71338606911949],"aabb_xy":[[0.443859887967893,-1.363135114978743],[0.6238598868046348,-1.2963841212903635]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_19","position":[0.5422889683993601,0.7803046229168364,0.71338606911949],"aabb_xy":[[0.49515958939752425,0.7163046218724344],[0.5894183474011956,0.8443046239612383]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_20","position":[0.458881850295082,-1.542303684650494,0.71338606911949],"aabb_xy":[[0.44763679472446416,-1.5535454823745891],[0.47012690586569983,-1.5310618869263986]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_21","position":[-0.28734491299274906,-0.3036849782911073,0.71338606911949],"aabb_xy":[[-0.301988318546782,-0.3183436979478915],[-0.272701507438716,-0.28902625863432296]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_22","position":[0.3349292171144367,-1.6696133856100666,0.71338606911949],"aabb_xy":[[0.3241562431930689,-1.7046133838291058],[0.34570219103580446,-1.6346133873910278]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_23","position":[-0.4262561421719148,0.5322871995874432,0.71338606911949],"aabb_xy":[[-0.47623355903716835,0.4822871980981946],[-0.3762787253066612,0.5822872010766916]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_24","position":[0.4519986223156016,1.4766272145308652,0.71338606911949],"aabb_xy":[[0.421600511216458,1.4462203125291953],[0.48239673341474515,1.5070341165325343]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_25","position":[0.47548649716969327,-2.064510987846145,0.71338606911949],"aabb_xy":[[0.45857576473335143,-2.07798319343876],[0.492397229606035,-2.0510387822535305]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_26","position":[-0.16159821150712683,-1.2223721482392054,0.71338606911949],"aabb_xy":[[-0.16571416161919947,-1.2264877032720505],[-0.15748226139505414,-1.2182565932063594]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6800758601830239,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5573.png","name":"5573"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5573.png","name":"5573"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9044.png","name":"9044"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9625.png","name":"9625"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8385.png","name":"8385"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2403.png","name":"2403"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":799.8892936575926,"rotation_z_degrees":61.27731107613721,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.002565864605993569,0.013975715792748634,0.010605305308917588]},{"name":"camera_2","offset_m":[0.003062195166168853,0.010422033082488819,0.0021622265928615478]},{"name":"camera_3","offset_m":[-0.00306121111679079,0.00460467339001731,-0.004700054295646914]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00014654675310664042,0.0007054327276255078,3.789639183529375e-05],"end_effector_yaw_offset_degrees":-0.8299091788682673},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001779573537755476,0.000729711444612177,-0.0007914227532656785],"end_effector_yaw_offset_degrees":0.4910216849746827},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016133900819541966,-0.0004930748653050477,-0.0007044638218792173],"end_effector_yaw_offset_degrees":0.42176525774588547}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0023942214885584534,0.0006358563585392449],"position_m":[0.35649422148855847,-0.08336414364146076,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004746491042199601,-0.0027859459388630747],"position_m":[0.2698535089578004,-0.33308594593886304,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0030647870732157054,0.00039143976547897225],"position_m":[0.1576352129267843,0.21459143976547898,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0007947109906349418,-0.0024297437162829495],"position_m":[0.34489471099063496,0.11277025628371705,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ff0d78680dd2639b6ad3771819a4218fe1fb883268860f5e93633a6c1c2a19d5","episode_index":25,"episode_name":"episode_0025"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0025.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_5573/tex_ceiling_textures_2403/tex_floor_textures_8385/tex_table_textures_9044/tex_wall_textures_9625","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":415765932760592283,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":415765932760592283,"visual_seed":415765932760592283,"scene_id":"lab_003","finished_at":"2026-09-04T01:07:21"} +{"episode_id":"ep_000026","started_at":"2026-09-04T01:07:24","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_0","position":[0.42008417060046854,0.7865962906127115,0.71338606911949],"aabb_xy":[[0.3560841734883629,0.737563920818301],[0.4840841677125743,0.8356286604071222]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_1","position":[0.31912812329766815,1.206492336931646,0.71338606911949],"aabb_xy":[[0.2946144992006623,1.1822277436296096],[0.343641747394674,1.2307569302336825]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_2","position":[-0.5566388403698037,1.6770879224750055,0.71338606911949],"aabb_xy":[[-0.6166388420127256,1.6250877731830613],[-0.49663883872688186,1.7290880717669497]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_3","position":[-0.13466258656105412,-2.165295251865158,0.71338606911949],"aabb_xy":[[-0.1721625851366749,-2.178031547528716],[-0.0971625879854333,-2.1525589562016]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_4","position":[0.6917402096689278,1.5914511130458266,0.71338606911949],"aabb_xy":[[0.6718491697885876,1.5787953017611303],[0.711631249549268,1.604106924330524]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_5","position":[-0.20712828969611868,1.674723984196301,0.71338606911949],"aabb_xy":[[-0.2711282920389202,1.6297831329521686],[-0.1431282873533171,1.7196648354404336]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_6","position":[0.017466626949318775,-1.2639463269207012,0.71338606911949],"aabb_xy":[[-0.04653336947800313,-1.3111159507427979],[0.08146662337664068,-1.216776703098605]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_7","position":[-0.1387917675463881,-0.5786094280328178,0.71338606911949],"aabb_xy":[[-0.173791765816508,-0.585683555727806],[-0.10379176927626818,-0.5715353003378296]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_8","position":[0.6383384861532957,1.7455591012804388,0.71338606911949],"aabb_xy":[[0.6343780023835613,1.7378912366949182],[0.64229896992303,1.7532269658659594]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_9","position":[-0.45704529835150287,-0.05289570291094092,0.71338606911949],"aabb_xy":[[-0.5220452994574462,-0.07786107597906922],[-0.3920452972455596,-0.027930329842812636]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_10","position":[-0.03563073227771463,-1.3904343103751704,0.71338606911949],"aabb_xy":[[-0.07063073140767029,-1.3961795314508345],[-0.0006307331477589592,-1.3846890892995063]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_11","position":[-0.4792735683724831,-2.3255718373660916,0.71338606911949],"aabb_xy":[[-0.5492735701812286,-2.346925606130279],[-0.40927356656373765,-2.3042180686019043]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_12","position":[-0.6298114623524748,0.7507666318390784,0.71338606911949],"aabb_xy":[[-0.644974335329412,0.7356011745439597],[-0.6146485893755378,0.7659320891341973]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_13","position":[0.3357168346751245,0.9764929106710314,0.71338606911949],"aabb_xy":[[0.30071683332364274,0.9561331747142106],[0.3707168360266062,0.9968526466278522]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_14","position":[-0.5574351728239135,0.0637348604316661,0.71338606911949],"aabb_xy":[[-0.5918975202220551,0.029240978033843384],[-0.5229728254257715,0.09822874282948876]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_15","position":[-0.5115482276092649,-1.3628421582736834,0.71338606911949],"aabb_xy":[[-0.5223887058357798,-1.3800284395643323],[-0.50070774938275,-1.3456558769830345]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_16","position":[-0.21748198819224113,-1.9474254180979746,0.71338606911949],"aabb_xy":[[-0.28248198822654386,-1.994126094778302],[-0.1524819881579384,-1.9007247414176474]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_17","position":[-0.3764663869853998,-0.7328661279570476,0.71338606911949],"aabb_xy":[[-0.40990656218141935,-0.7663097537879776],[-0.34302621178938014,-0.6994225021261175]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_18","position":[-0.425598874325744,-0.2908986728425016,0.71338606911949],"aabb_xy":[[-0.4895988745862148,-0.33590747219542955],[-0.3615988740652732,-0.24588987348957356]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_19","position":[-0.40148848130625414,0.6077505958382896,0.71338606911949],"aabb_xy":[[-0.4514714314937334,0.5577505961957291],[-0.35150553111877475,0.6577505954808499]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_20","position":[-0.22391150784421548,1.3077433337393014,0.71338606911949],"aabb_xy":[[-0.30891150653629007,1.2757574703444226],[-0.13891150915214082,1.3397291971341803]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_21","position":[-0.1871150223207253,-2.339526473122014,0.71338606911949],"aabb_xy":[[-0.1964620299030205,-2.353830095339658],[-0.17776801473843004,-2.3252228509043698]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_22","position":[-0.34367821208098986,0.41986473244079203,0.71338606911949],"aabb_xy":[[-0.3568294580522792,0.3948647326841056],[-0.3305269661097005,0.4448647321974787]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_23","position":[0.3607358454355747,-2.3769630837203395,0.71338606911949],"aabb_xy":[[0.2957358444350741,-2.4277494488750144],[0.42573584643607515,-2.3261767185656645]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_24","position":[-0.36382448485045266,0.1283948118047129,0.71338606911949],"aabb_xy":[[-0.41382448442678743,0.07841423285260696],[-0.313824485274118,0.17837539075681885]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_25","position":[0.35758560629589464,-1.5940446653295135,0.71338606911949],"aabb_xy":[[0.3200856055038992,-1.6004125062877037],[0.3950856070878901,-1.5876768243713233]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_26","position":[0.048538789147242745,0.8312992733893814,0.71338606911949],"aabb_xy":[[-0.041461207353629,0.7853876309709231],[0.13853878564811448,0.8772109158078396]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.680483647695835,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5647.png","name":"5647"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5647.png","name":"5647"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7120.png","name":"7120"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/789.png","name":"789"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9742.png","name":"9742"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2678.png","name":"2678"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":849.387672502213,"rotation_z_degrees":351.61060486175165,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016975806424259048,0.0012729763705469077,0.007590120982719165]},{"name":"camera_2","offset_m":[0.002052017867929957,0.019202941197352396,0.008037195415791197]},{"name":"camera_3","offset_m":[0.010967744712717994,-0.016811087802895697,-0.0009635337135370306]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006717233392612254,-0.0007033716766316109,0.0011927110227448723],"end_effector_yaw_offset_degrees":-0.5809203238280987},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001773994905327047,1.5919494956269202e-05,-0.00021367593899953565],"end_effector_yaw_offset_degrees":-0.3788425352059752},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00016783035477366042,-0.0016024932048631642,-0.00028683193750798095],"end_effector_yaw_offset_degrees":0.5377649098590065}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004536757505975741,-0.0023503111195650474],"position_m":[0.34956324249402426,-0.08635031111956505,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0026950152895300473,5.132299959518128e-05],"position_m":[0.27190498471047,-0.3302486770004048,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0012221355023127934,0.00026806675540341426],"position_m":[0.15947786449768722,0.21446806675540342,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0025174988573096304,0.0003789564274102753],"position_m":[0.3415825011426904,0.11557895642741027,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"350a7c4df42075ae5eb8c06014c481d86b6f5449041acd081914b805b8cbfc66","episode_index":26,"episode_name":"episode_0026"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0026.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_5647/tex_ceiling_textures_2678/tex_floor_textures_9742/tex_table_textures_7120/tex_wall_textures_789","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":5944541846931628000,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":5944541846931628000,"visual_seed":5944541846931628000,"scene_id":"lab_003","finished_at":"2026-09-04T01:10:13"} +{"episode_id":"ep_000027","started_at":"2026-09-04T01:10:17","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_0","position":[-0.3936236364970939,0.39203451839502534,0.71338606911949],"aabb_xy":[[-0.4041911161551929,0.3814894882820168],[-0.38305615683899485,0.4025795485080339]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_1","position":[-0.19107352422879487,-0.9661203992828773,0.71338606911949],"aabb_xy":[[-0.20894263198325036,-0.9799533072600882],[-0.17320441647433937,-0.9522874913056664]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_2","position":[-0.26307640768163615,1.5810833718657737,0.71338606911949],"aabb_xy":[[-0.2843544158251084,1.5160833695397005],[-0.2417983995381639,1.6460833741918466]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_3","position":[-0.16302006584382966,-0.5815225627179914,0.71338606911949],"aabb_xy":[[-0.1670982237508794,-0.5856035429662547],[-0.15894190793677992,-0.5774415824697281]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_4","position":[-0.5371799018532151,-0.13884458103790198,0.71338606911949],"aabb_xy":[[-0.5452061724838412,-0.1475960760152546],[-0.5291536312225892,-0.13009308606054937]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_5","position":[-0.21638385143206418,0.6418693188126996,0.71338606911949],"aabb_xy":[[-0.2803838531100615,0.5933519273333853],[-0.15238384975406677,0.6903867102920137]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_6","position":[-0.1114047989037561,0.9715690002062587,0.71338606911949],"aabb_xy":[[-0.12890479916309272,0.9574774580174862],[-0.09390479864441949,0.9856605423950314]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_7","position":[0.1696815935178747,-0.933585758673162,0.71338606911949],"aabb_xy":[[0.14718159350772642,-0.9476819783127651],[0.192181593528023,-0.9194895390335586]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_8","position":[0.47303425998983184,-0.5354948662303132,0.71338606911949],"aabb_xy":[[0.4230349848213957,-0.5854948675062603],[0.523033535158268,-0.485494864954366]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_9","position":[0.3387908737714116,-2.30693452496162,0.71338606911949],"aabb_xy":[[0.3307968851937082,-2.31493460505671],[0.346784862349115,-2.298934444866529]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_10","position":[0.21441097145098487,1.174128481936203,0.71338606911949],"aabb_xy":[[0.12472389514286941,1.0841284816817522],[0.3040980477591003,1.2641284821906533]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_11","position":[-0.1543338346571732,-1.531787027605061,0.71338606911949],"aabb_xy":[[-0.16866825978333663,-1.5438472431596],[-0.13999940953100973,-1.5197268120505223]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_12","position":[0.453428157037421,-1.5435985527338485,0.71338606911949],"aabb_xy":[[0.44080136975022466,-1.5531446264354212],[0.46605494432461736,-1.5340524790322754]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_13","position":[-0.39770486186281756,-2.40122044934245,0.71338606911949],"aabb_xy":[[-0.4056983516580996,-2.4092185812829254],[-0.38971137206753553,-2.393222317401974]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_14","position":[0.542452349863136,1.5835261347039649,0.71338606911949],"aabb_xy":[[0.5315465737755732,1.5035261383051355],[0.5533581259506987,1.6635261311027938]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_15","position":[0.2381490550786607,-2.2029331263500103,0.71338606911949],"aabb_xy":[[0.20766480495163056,-2.2529331261315058],[0.26863330520569084,-2.152933126568514]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_16","position":[-0.4497861833972836,-1.4273462258108696,0.71338606911949],"aabb_xy":[[-0.46019774207776726,-1.4326919591467677],[-0.43937462471679983,-1.422000492474971]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_17","position":[0.28802044647924707,0.8940944599416802,0.71338606911949],"aabb_xy":[[0.2530204472864287,0.8831274139440175],[0.3230204456720652,0.9050615059393428]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_18","position":[-0.3481605640136409,-2.034842421564835,0.71338606911949],"aabb_xy":[[-0.40315604183430026,-2.0898424229987413],[-0.2931650861929815,-1.9798424201309275]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_19","position":[-0.2952592290716353,-0.24241119347683737,0.71338606911949],"aabb_xy":[[-0.3287383963326763,-0.27589030684794436],[-0.26178006181059443,-0.2089320801057304]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_20","position":[0.10828147452114911,-1.644118546332428,0.71338606911949],"aabb_xy":[[0.08376785042414325,-1.6683831396344644],[0.13279509861815497,-1.6198539530303915]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_21","position":[-0.3988284894209899,0.8536551162255686,0.71338606911949],"aabb_xy":[[-0.43586259884904965,0.819277908891859],[-0.3617943799929302,0.8880323235592779]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_22","position":[-0.3609126541977694,0.17683782193218933,0.71338606911949],"aabb_xy":[[-0.4509126578746875,0.11540541535508494],[-0.2709126505208512,0.23827022850929364]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_23","position":[-0.16285287559720563,-1.7420092071909594,0.71338606911949],"aabb_xy":[[-0.1760838211318869,-1.7552366262129584],[-0.1496219300625243,-1.7287817881689596]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_24","position":[-0.6025698280614644,0.058937940035725056,0.71338606911949],"aabb_xy":[[-0.640069828726043,0.04325088203550287],[-0.5650698273968856,0.07462499803594724]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_25","position":[0.40920539448852145,1.4781259594390836,0.71338606911949],"aabb_xy":[[0.3540801888589306,1.4181259579977963],[0.46433060011811217,1.5381259608803706]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_26","position":[-0.058543308635918834,0.06478605763245548,0.71338606911949],"aabb_xy":[[-0.06245718183134137,0.05603704222589871],[-0.054629435440496324,0.07353507303901223]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_27","position":[-0.3907903299419687,0.9506282347312207,0.71338606911949],"aabb_xy":[[-0.460790332578555,0.9305233697353551],[-0.3207903273053823,0.9707330997270861]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_28","position":[-0.4519010310991859,1.137799897566103,0.71338606911949],"aabb_xy":[[-0.4894010309162194,1.1331616862549612],[-0.4144010312821523,1.1424381088772448]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.681950607416576,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6801.png","name":"6801"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6801.png","name":"6801"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9779.png","name":"9779"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7431.png","name":"7431"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4669.png","name":"4669"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8114.png","name":"8114"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":811.4797714424295,"rotation_z_degrees":57.1785092675501,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004068825208240975,0.00877444511702757,-0.017353828327245396]},{"name":"camera_2","offset_m":[0.01685087275288925,0.005553711081898803,-0.016680178777321867]},{"name":"camera_3","offset_m":[-0.002130726966977338,-1.765664836982095e-05,0.007353702143001746]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.000266439037339685,3.6781413533991825e-05,0.0008497051436696158],"end_effector_yaw_offset_degrees":-0.9183585837313135},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0019028280956332436,0.0005749054542823605,0.0015943783247491074],"end_effector_yaw_offset_degrees":0.8810274568580481},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0004840521801314449,-0.0010229268441932686,-0.001867586837045463],"end_effector_yaw_offset_degrees":-0.8144825949186649}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0017592310926085796,0.0017320338402598478],"position_m":[0.3558592310926086,-0.08226796615974016,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00036698214284845536,0.0012297851228328972],"position_m":[0.27423301785715154,-0.3290702148771671,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002427487323048413,-0.0047865913382587645],"position_m":[0.1582725126769516,0.20941340866174124,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003848395685227467,-0.00447936572191778],"position_m":[0.3479483956852275,0.11072063427808222,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b92efe08bddf45bce3c3d70a17273a12bf291b60ad8424ed78bb94059c317ec1","episode_index":27,"episode_name":"episode_0027"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0027.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_6801/tex_ceiling_textures_8114/tex_floor_textures_4669/tex_table_textures_9779/tex_wall_textures_7431","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":4205071782842172677,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":4205071782842172677,"visual_seed":4205071782842172677,"scene_id":"lab_003","finished_at":"2026-09-04T01:12:56"} +{"episode_id":"ep_000028","started_at":"2026-09-04T01:12:58","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_0","position":[-0.2132152099561883,1.0743648140829487,0.71338606911949],"aabb_xy":[[-0.2478062928102335,1.0093648137979172],[-0.17862412710214307,1.1393648143679793]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_1","position":[-0.26601602353996384,1.4771291790557224,0.71338606911949],"aabb_xy":[[-0.33001602588276535,1.43218832781159],[-0.20201602119716225,1.5220700302998549]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_2","position":[-0.04761294736827315,-1.7873239896369073,0.71338606911949],"aabb_xy":[[-0.07261294730079104,-1.7942066578578306],[-0.02261294743575526,-1.780441321415984]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_3","position":[-0.06638839828401943,0.7857705300056694,0.71338606911949],"aabb_xy":[[-0.13038840033375143,0.7456760469163616],[-0.0023883962342874238,0.8258650130949775]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_4","position":[-0.2983901116055379,0.723405710462016,0.71338606911949],"aabb_xy":[[-0.3358901118977127,0.7193642350614122],[-0.26089011131336304,0.7274471858626195]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_5","position":[-0.5052007830314797,0.34159076175122793,0.71338606911949],"aabb_xy":[[-0.5852007835016957,0.33328005413687967],[-0.4252007825612638,0.3499014693655764]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_6","position":[-0.30902358661568485,0.5434241970334357,0.71338606911949],"aabb_xy":[[-0.3440235849263803,0.5357091821098899],[-0.2740235883049894,0.5511392119569812]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_7","position":[-0.4461164182731921,-0.813888406524653,0.71338606911949],"aabb_xy":[[-0.49611641771338766,-0.8638563310089691],[-0.3961164188329964,-0.7639204820403365]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_8","position":[-0.22062735857260357,-0.4032875698861549,0.71338606911949],"aabb_xy":[[-0.2656273600388324,-0.44828742674763566],[-0.1756273571063747,-0.35828771302467427]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_9","position":[-0.6612932691873875,-0.4642046709392216,0.71338606911949],"aabb_xy":[[-0.6718607488454866,-0.47474970105223013],[-0.6507257895292886,-0.453659640826213]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_10","position":[0.6370735165391681,-2.1823038363882037,0.71338606911949],"aabb_xy":[[0.5958247055092533,-2.2373038359004207],[0.6783223275690827,-2.127303836875986]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_11","position":[-0.37843017826033054,-2.3730263175125748,0.71338606911949],"aabb_xy":[[-0.3959768731764495,-2.4105263190768262],[-0.3608834833442116,-2.3355263159483233]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_12","position":[-0.07968646339059748,-0.0011585429538047975,0.71338606911949],"aabb_xy":[[-0.12956916026829368,-0.05115854220007955],[-0.02980376651290128,0.048841456292469956]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_13","position":[0.6191827872717999,1.0163282349628004,0.71338606911949],"aabb_xy":[[0.569187776312348,0.966328235927209],[0.669177798231252,1.0663282339983924]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_14","position":[-0.5938677348154658,0.16872066488409843,0.71338606911949],"aabb_xy":[[-0.6163668705416928,0.14622066410583545],[-0.5713685990892389,0.1912206656623614]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_15","position":[-0.5168579017474166,-1.006653866529427,0.71338606911949],"aabb_xy":[[-0.6068579040814357,-1.0841362211145396],[-0.4268578994133976,-0.9291715119443142]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_16","position":[0.1721891664076307,-1.6635300445978873,0.71338606911949],"aabb_xy":[[0.14969274497376664,-1.6860300444046348],[0.19468558784149484,-1.64103004479114]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_17","position":[0.05797391231660376,-2.1713880124067617,0.71338606911949],"aabb_xy":[[0.007973910655109,-2.221386454662464],[0.10797391397809852,-2.1213895701510586]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_18","position":[0.15142666871276889,1.7262339968954152,0.71338606911949],"aabb_xy":[[0.06173959240465343,1.6362339966409647],[0.24111374502088434,1.8162339971498658]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_19","position":[0.6238582069700989,1.6326978373407628,0.71338606911949],"aabb_xy":[[0.5538582105601368,1.6122599016890806],[0.6938582033800604,1.653135772992444]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_20","position":[0.41724113709500976,-1.4381718056100827,0.71338606911949],"aabb_xy":[[0.3803905891580221,-1.4756718064331167],[0.4540916850319973,-1.4006718047870492]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_21","position":[0.3646664573194396,1.131710470500014,0.71338606911949],"aabb_xy":[[0.2809442318193571,1.0417104669653179],[0.44838868281952204,1.2217104740347098]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_22","position":[-0.14950377732657216,0.5120420001080666,0.71338606911949],"aabb_xy":[[-0.21450377828369935,0.46009378817436103],[-0.08450377636944494,0.5639902120417721]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_23","position":[-0.14321656351333523,-1.9248824160300155,0.71338606911949],"aabb_xy":[[-0.17320822624720555,-1.9548824153668158],[-0.1132249007794649,-1.8948824166932148]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6788650434632779,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4554.png","name":"4554"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4554.png","name":"4554"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9244.png","name":"9244"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5819.png","name":"5819"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/450.png","name":"450"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9424.png","name":"9424"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":552.1862145372235,"rotation_z_degrees":273.1907606724332,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.003801742360106216,0.01984760077137752,-0.012318118057652799]},{"name":"camera_2","offset_m":[0.007800884450362994,0.013963233407786931,-0.0052216982682060965]},{"name":"camera_3","offset_m":[0.01309772877824569,0.005407375873314857,0.005647967478057389]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005558227245744214,0.0009176339084883407,-0.000700021207755433],"end_effector_yaw_offset_degrees":0.6181674049800268},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015585096460164882,0.0003602876132347507,-0.00039344170236405777],"end_effector_yaw_offset_degrees":0.6986809990506169},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00025394979687221606,0.001636899431762955,0.000559002842946253],"end_effector_yaw_offset_degrees":0.9787626300427983}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003246339243936262,-0.0022448884412026547],"position_m":[0.3573463392439363,-0.08624488844120266,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0036553201187899745,0.001657720149478164],"position_m":[0.27094467988121,-0.3286422798505218,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0010574957511737667,-0.002973414781604149],"position_m":[0.16175749575117376,0.21122658521839585,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0005283847582296186,-0.0015148025393831124],"position_m":[0.34462838475822966,0.11368519746061688,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7b6b2934274081d096700d083fe9cb285dfc0666af8319474a15041c97353234","episode_index":28,"episode_name":"episode_0028"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0028.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_4554/tex_ceiling_textures_9424/tex_floor_textures_450/tex_table_textures_9244/tex_wall_textures_5819","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":7524278417562469934,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":7524278417562469934,"visual_seed":7524278417562469934,"scene_id":"lab_003","finished_at":"2026-09-04T01:15:54"} +{"episode_id":"ep_000029","started_at":"2026-09-04T01:15:57","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_0","position":[0.06264265497673283,-1.8285497574513796,0.71338606911949],"aabb_xy":[[0.03267509806690716,-1.8585497577492653],[0.09261021188655849,-1.7985497571534939]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_1","position":[0.24911607419582527,0.8693633579114097,0.71338606911949],"aabb_xy":[[0.22661965276196114,0.8468633581046623],[0.27161249562968937,0.8918633577181572]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_2","position":[-0.028474406055648438,0.673285456606302,0.71338606911949],"aabb_xy":[[-0.050974406567689035,0.6507935982409037],[-0.005974405543607838,0.6957773149717004]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_3","position":[-0.40049513056587926,-1.9157412430302907,0.71338606911949],"aabb_xy":[[-0.41133560879239417,-1.9329275243209392],[-0.38965465233936436,-1.8985549617396418]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_4","position":[-0.5261470725575452,1.5769082691052874,0.71338606911949],"aabb_xy":[[-0.586147072404112,1.5200896469122485],[-0.46614707271097844,1.6337268912983258]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_5","position":[-0.04024707975762043,1.7481225144351389,0.71338606911949],"aabb_xy":[[-0.0593593871155993,1.728987735557897],[-0.021134772399641573,1.7672572933123811]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_6","position":[-0.6150058046052416,0.44830879459735673,0.71338606911949],"aabb_xy":[[-0.6644862258192004,0.3843087966845049],[-0.5655253833912828,0.5123087925102086]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_7","position":[0.6226774745296402,-0.02232840042193196,0.71338606911949],"aabb_xy":[[0.572678199361204,-0.07232840169787913],[0.6726767496980763,0.027671600854015207]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_8","position":[0.4809340943376159,-1.4798178902260755,0.71338606911949],"aabb_xy":[[0.45965608619414355,-1.5448178925521483],[0.502212102481088,-1.4148178879000022]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_9","position":[-0.08578547311095419,0.2608492545460397,0.71338606911949],"aabb_xy":[[-0.10567651299129445,0.2481934432613429],[-0.06589443323061395,0.2735050658307366]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_10","position":[0.5263348151976537,-0.6820227968573265,0.71338606911949],"aabb_xy":[[0.49800510524911357,-0.6864835390510436],[0.554664525146194,-0.6775620546636095]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_11","position":[-0.3884834382827596,0.5962022868645551,0.71338606911949],"aabb_xy":[[-0.4384565038152752,0.5462022870520222],[-0.3385103727502442,0.646202286677088]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_12","position":[-0.4590139702220383,0.9262994823820079,0.71338606911949],"aabb_xy":[[-0.4662752177924458,0.9135124721184985],[-0.45175272265163097,0.9390864926455175]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_13","position":[0.5629824029037043,-0.8194284995765531,0.71338606911949],"aabb_xy":[[0.5393972794398094,-0.8844285018219847],[0.5865675263675991,-0.7544284973311212]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_14","position":[0.42546873500603777,-1.17667203820256,0.71338606911949],"aabb_xy":[[0.3704687358294483,-1.2316617129775174],[0.48046873418262726,-1.121682363427602]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_15","position":[-0.37185436195316773,0.11455471341969625,0.71338606911949],"aabb_xy":[[-0.42185436139336335,0.06458678893537995],[-0.3218543625129721,0.16452263790401256]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_16","position":[0.058423919122399415,-1.2821840912402303,0.71338606911949],"aabb_xy":[[0.03592391911225112,-1.2962803108798333],[0.0809239191325477,-1.2680878716006267]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_17","position":[-0.20459879269544323,-2.333536185468678,0.71338606911949],"aabb_xy":[[-0.27459879482687277,-2.356298151094373],[-0.13459879056401367,-2.310774219842982]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_18","position":[0.0756331928566969,-1.1655548349743994,0.71338606911949],"aabb_xy":[[0.0676069222260709,-1.174306329951752],[0.0836594634873229,-1.1568033399970468]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_19","position":[-0.18921374469604701,1.502293867842028,0.71338606911949],"aabb_xy":[[-0.2441874667323799,1.4472938682777947],[-0.13424002265971413,1.557293867406261]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_20","position":[-0.6599874850943873,-1.7223550793646547,0.71338606911949],"aabb_xy":[[-0.6696191213148168,-1.7319923921443636],[-0.6503558488739576,-1.7127177665849458]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_21","position":[0.583494734990023,-0.4273920064128389,0.71338606911949],"aabb_xy":[[0.5034947345198071,-0.4357027140271873],[0.663494735460239,-0.41908129879849054]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_22","position":[-0.11762453712415943,1.081846725155089,0.71338606911949],"aabb_xy":[[-0.1727497427537502,1.0218467237138016],[-0.06249933149456866,1.1418467265963759]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_23","position":[0.3867287384439557,-0.6602470931651081,0.71338606911949],"aabb_xy":[[0.33672873979803447,-0.7101666368245705],[0.43672873708987686,-0.6103275495056457]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_24","position":[0.6566156547898419,0.37036331355783547,0.71338606911949],"aabb_xy":[[0.6241539539079143,0.3402304814429327],[0.6890773556717692,0.400496145672738]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_25","position":[-0.5495292264204872,-0.005352142778606073,0.71338606911949],"aabb_xy":[[-0.5677350500817349,-0.016377543360597713],[-0.5313234027592395,0.0056732578033855665]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_26","position":[0.3266861221682562,-0.9907625823246697,0.71338606911949],"aabb_xy":[[0.262686122874088,-1.054748722693524],[0.39068612146242443,-0.9267764419558155]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_27","position":[-0.148237318077443,-2.147528995663207,0.71338606911949],"aabb_xy":[[-0.18678301090264404,-2.1860747667193956],[-0.10969162525224196,-2.108983224607018]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_28","position":[-0.5269203928003955,-1.4847806325826787,0.71338606911949],"aabb_xy":[[-0.5306236541295344,-1.4884826508913962],[-0.5232171314712566,-1.4810786142739603]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6862378994087163,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9783.png","name":"9783"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9783.png","name":"9783"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4676.png","name":"4676"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7275.png","name":"7275"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5107.png","name":"5107"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/379.png","name":"379"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":690.9483299736789,"rotation_z_degrees":157.619303970806,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005882119798202403,0.009074886814472428,-0.014190606463511508]},{"name":"camera_2","offset_m":[-0.00832762434271987,0.005759133822139561,-0.013374946748585585]},{"name":"camera_3","offset_m":[0.01906469568714893,-0.0011355051342276969,0.0016735018360522422]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007307657258849645,0.0007578988674940917,0.0018855707038865572],"end_effector_yaw_offset_degrees":0.609922177455301},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010607766483484676,0.0015917803170684783,0.00030372743721115373],"end_effector_yaw_offset_degrees":-0.2953512906611613},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014440564011314171,-0.0007977148555689585,0.001666950566356685],"end_effector_yaw_offset_degrees":0.006909756038241621}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0004982448269860718,0.0011500866775031038],"position_m":[0.35360175517301395,-0.0828499133224969,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002952902272295812,-0.0016277729486151838],"position_m":[0.27755290227229584,-0.33192777294861514,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001682515520704476,-0.0037605143537714826],"position_m":[0.16238251552070448,0.21043948564622852,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0005651272767610979,0.0018501366541644748],"position_m":[0.3435348727232389,0.11705013665416447,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"665e52490243e978d1a88a3e11e7c4ab689251deccf4c9e0bc55d7e700a01742","episode_index":29,"episode_name":"episode_0029"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0029.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_9783/tex_ceiling_textures_379/tex_floor_textures_5107/tex_table_textures_4676/tex_wall_textures_7275","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":4425538193484738976,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":4425538193484738976,"visual_seed":4425538193484738976,"scene_id":"lab_003","finished_at":"2026-09-04T01:18:37"} +{"episode_id":"ep_000030","started_at":"2026-09-04T01:18:40","dimensions":{"distractor":{"count":27,"items":[{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_0","position":[0.5953759646358072,0.519070726489975,0.71338606911949],"aabb_xy":[[0.5728759646256589,0.5049745068503717],[0.6178759646459555,0.5331669461295783]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_1","position":[0.6587854424628419,-1.8848333156742125,0.71338606911949],"aabb_xy":[[0.6243229644497541,-1.8914969928571352],[0.6932479204759296,-1.8781696384912898]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_2","position":[0.29134005865302437,-0.4521172420895141,0.71338606911949],"aabb_xy":[[0.2849262450098394,-0.4585270623371824],[0.29775387229620925,-0.4457074218418457]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_3","position":[-0.4529076423224129,-1.1119831383548737,0.71338606911949],"aabb_xy":[[-0.5169076409089853,-1.1589901017543822],[-0.3889076437358404,-1.0649761749553648]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_4","position":[0.5847848111757499,-2.450648558645513,0.71338606911949],"aabb_xy":[[0.5747031040971763,-2.5306485565376273],[0.5948665182543232,-2.370648560753398]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_5","position":[0.40859845163784336,1.8125090751431325,0.71338606911949],"aabb_xy":[[0.3710984501222116,1.8012823021269875],[0.446098453153475,1.8237358481592776]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_6","position":[0.6697928786192258,0.3554122269771298,0.71338606911949],"aabb_xy":[[0.6495085758958269,0.3351296018344209],[0.6900771813426244,0.3756948521198386]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_7","position":[-0.3724033955304913,-0.3382008442446578,0.71338606911949],"aabb_xy":[[-0.42240267069892745,-0.38820084552060496],[-0.3224041203620551,-0.2882008429687106]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_8","position":[-0.5843900678833459,-0.38848225354635657,0.71338606911949],"aabb_xy":[[-0.6643900700461084,-0.46843743717250014],[-0.5043900657205834,-0.3085270699202129]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_9","position":[-0.6429923368382452,0.6721956092667303,0.71338606911949],"aabb_xy":[[-0.6779923359682007,0.6664503881910662],[-0.6079923377082894,0.6779408303423944]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_10","position":[-0.31789417187072583,-1.6580677064297014,0.71338606911949],"aabb_xy":[[-0.3232317475367304,-1.6830677073588411],[-0.31255659620472126,-1.6330677055005616]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_11","position":[0.029392119675690997,1.740706360464984,0.71338606911949],"aabb_xy":[[0.019636130166517104,1.7309438264057493],[0.03914810918486489,1.7504688945242182]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_12","position":[-0.5492874277923571,1.4237384235218484,0.71338606911949],"aabb_xy":[[-0.6132874280528278,1.3787296241689204],[-0.4852874275318862,1.4687472228747764]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_13","position":[-0.37837295704943397,0.5350648423271731,0.71338606911949],"aabb_xy":[[-0.4423686544445305,0.4710648440264643],[-0.3143772596543373,0.5990648406278817]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_14","position":[-0.04341733005802351,0.48601397866656537,0.71338606911949],"aabb_xy":[[-0.07841732836871895,0.4782989637430198],[-0.008417331747328054,0.4937289935901111]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_15","position":[-0.19280169658386426,-1.7801863933011712,0.71338606911949],"aabb_xy":[[-0.2045698833785218,-1.865186393206393],[-0.18103350978920674,-1.69518639339595]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_16","position":[-0.4259567428603958,0.3419298898086902,0.71338606911949],"aabb_xy":[[-0.46187024728538545,0.3060163815919356],[-0.39004323843540606,0.3778433980254448]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_17","position":[0.46416366377291673,0.9529270887199099,0.71338606911949],"aabb_xy":[[0.45481665619062145,0.9386234665022659],[0.4735106713552119,0.967230710937554]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_18","position":[0.5646245058104393,0.24336312255254322,0.71338606911949],"aabb_xy":[[0.558529877922321,0.23479372800087447],[0.5707191336985576,0.25193251710421194]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_19","position":[0.5001390123716669,-1.5457762973738023,0.71338606911949],"aabb_xy":[[0.4201390112985466,-1.5555543437111867],[0.5801390134447872,-1.5359982510364178]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_20","position":[-0.420035241880621,0.1520643925394185,0.71338606911949],"aabb_xy":[[-0.5050352405726957,0.12007852914453965],[-0.33503524318854633,0.18405025593429736]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_21","position":[0.20928688915460936,0.6601630345879843,0.71338606911949],"aabb_xy":[[0.1742868878031276,0.6398032986311635],[0.24428689050609106,0.6805227705448051]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_22","position":[0.11241684493735749,-0.9999509121522299,0.71338606911949],"aabb_xy":[[0.10828098860465729,-1.0374509115965869],[0.11655270127005768,-0.962450912707873]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_23","position":[0.09793160496097475,1.385800200059501,0.71338606911949],"aabb_xy":[[0.040301136073703885,1.32580020113279],[0.15556207384824558,1.4458001989862113]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_24","position":[0.22110202964013415,-0.5081235540531699,0.71338606911949],"aabb_xy":[[0.2128874845244501,-0.516800144350811],[0.22931657475581807,-0.49944696375552844]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_25","position":[-0.6378825734858359,-0.7929919152896203,0.71338606911949],"aabb_xy":[[-0.6459962281592129,-0.8010977317436493],[-0.6297689188124587,-0.7848860988355911]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_26","position":[0.6851937820707421,-1.5267694400058878,0.71338606911949],"aabb_xy":[[0.6676470871546233,-1.5642694415701388],[0.7027404769868612,-1.4892694384416363]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6791546125785768,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8995.png","name":"8995"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8995.png","name":"8995"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9615.png","name":"9615"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/691.png","name":"691"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1217.png","name":"1217"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4871.png","name":"4871"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":688.2876586466932,"rotation_z_degrees":141.780377577299,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004957306129768014,-0.0020566392639221574,-0.013348964491673287]},{"name":"camera_2","offset_m":[-0.0059246781868353,0.01975953163465066,0.019972876955845303]},{"name":"camera_3","offset_m":[0.01013670903626632,0.015874787447524696,0.00699242279394988]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006793173498397327,0.00041634005359911805,-0.00035964411574682803],"end_effector_yaw_offset_degrees":0.5650558686392657},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017624801644372272,-0.0011582745371822387,0.0006715110071110831],"end_effector_yaw_offset_degrees":0.23781963766684577},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00010164402226073808,0.0008174163961251232,0.0010443726862175238],"end_effector_yaw_offset_degrees":0.5926088890172738}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0019512552442096766,0.0023532116255821052],"position_m":[0.35214874475579033,-0.0816467883744179,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001695612636785596,0.004620669703418048],"position_m":[0.27290438736321443,-0.3256793302965819,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004316354606925368,0.0020320302519327886],"position_m":[0.16501635460692538,0.2162320302519328,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0037528795265365845,0.003172409563698142],"position_m":[0.34034712047346344,0.11837240956369814,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"cb35e71a8e1c0f02e87b995d40a57e574a4f941f743e5ebb4f8e4c3f8a21b570","episode_index":30,"episode_name":"episode_0030"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0030.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_8995/tex_ceiling_textures_4871/tex_floor_textures_1217/tex_table_textures_9615/tex_wall_textures_691","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":1484744159973098618,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":1484744159973098618,"visual_seed":1484744159973098618,"scene_id":"lab_003","finished_at":"2026-09-04T01:21:29"} +{"episode_id":"ep_000031","started_at":"2026-09-04T01:21:32","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_0","position":[0.3062096556563816,-0.7992746010498819,0.71338606911949],"aabb_xy":[[0.24220965397838423,-0.847791992529196],[0.37020965733437894,-0.7507572095705676]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_1","position":[-0.2631792368658511,1.4419369586234505,0.71338606911949],"aabb_xy":[[-0.3531792354603211,1.4256863723100297],[-0.1731792382713812,1.4581875449368717]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_2","position":[0.6914609341519189,1.2959948386123314,0.71338606911949],"aabb_xy":[[0.6689609339084036,1.2837902039525595],[0.7139609343954344,1.3081994732721034]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_3","position":[0.3706756335232213,-2.2598825255699344,0.71338606911949],"aabb_xy":[[0.2906756365601821,-2.336958167213708],[0.4506756304862604,-2.182806883926161]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_4","position":[-0.6406106323679697,0.8465401315095136,0.71338606911949],"aabb_xy":[[-0.6525433667297978,0.8341579787016542],[-0.6286778980061417,0.8589222843173729]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_5","position":[-0.3724519317794033,-1.4868822379507387,0.71338606911949],"aabb_xy":[[-0.43245193237541946,-1.5416947104959622],[-0.3124519311833871,-1.4320697654055152]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_6","position":[0.5995425674933665,-2.0506551397958237,0.71338606911949],"aabb_xy":[[0.5195425653306041,-2.1306103234219673],[0.679542569656129,-1.97069995616968]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_7","position":[-0.025413983758583614,-1.9914746790420932,0.71338606911949],"aabb_xy":[[-0.07538704929109909,-2.041474678854626],[0.024559081773931856,-1.9414746792295603]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_8","position":[-0.48049672349117367,1.2344306246936059,0.71338606911949],"aabb_xy":[[-0.5017747316346459,1.1694306223675326],[-0.4592187153477014,1.2994306270196787]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_9","position":[-0.5647689784015568,-1.7287105367706725,0.71338606911949],"aabb_xy":[[-0.579931851378494,-1.7438759940657917],[-0.5496061054246199,-1.7135450794755542]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_10","position":[0.04914555587887637,0.7244319475821768,0.71338606911949],"aabb_xy":[[-0.010854444372524814,0.6701506225457121],[0.10914555613027754,0.7787132726186414]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_11","position":[-0.5005280631395203,-2.2681063447288543,0.71338606911949],"aabb_xy":[[-0.5086417178128974,-2.276212161182883],[-0.49241440846614315,-2.2600005282748254]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_12","position":[-0.47176840320161584,-2.3976384304719582,0.71338606911949],"aabb_xy":[[-0.48926840233598295,-2.407518057509545],[-0.4542684040672486,-2.3877588034343695]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_13","position":[0.6426957509492379,-0.7210109118545263,0.71338606911949],"aabb_xy":[[0.6051957494336061,-0.7322376848706713],[0.6801957524648695,-0.7097841388383812]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_14","position":[-0.18423256525121368,-0.313214845867555,0.71338606911949],"aabb_xy":[[-0.22102719837611992,-0.3501207209641372],[-0.14743793212630737,-0.27630897077097266]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_15","position":[0.4291493163196829,-1.523549940196558,0.71338606911949],"aabb_xy":[[0.3791493149587957,-1.5735278447719736],[0.4791493176805702,-1.4735720356211424]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_16","position":[0.37913313194562415,0.9655317009324733,0.71338606911949],"aabb_xy":[[0.3673649451509667,0.880531701027252],[0.3909013187402818,1.050531700837695]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_17","position":[0.5942794646544123,0.6161624109422394,0.71338606911949],"aabb_xy":[[0.579177163193394,0.6010608893111773],[0.6093817661154302,0.6312639325733009]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_18","position":[0.5390960783371701,-0.4129558643795903,0.71338606911949],"aabb_xy":[[0.5091285214273444,-0.44295586467747605],[0.5690636352469958,-0.38295586408170457]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_19","position":[-0.2522050541419212,-0.5669149101220898,0.71338606911949],"aabb_xy":[[-0.2562832120489709,-0.5709958903703531],[-0.24812689623487144,-0.5628339298738265]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_20","position":[0.09306935560190555,-0.747019993405081,0.71338606911949],"aabb_xy":[[0.029069352312197424,-0.7903549124089985],[0.15706935889161364,-0.7036850744011632]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_21","position":[-0.33533443651867517,0.6566499939640127,0.71338606911949],"aabb_xy":[[-0.3853344381801699,0.6066515517083099],[-0.28533443485718035,0.7066484362197153]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_22","position":[-0.5446728941482955,-2.04452476486363,0.71338606911949],"aabb_xy":[[-0.6146728962797249,-2.0672867304893257],[-0.4746728920168658,-2.021762799237934]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_23","position":[-0.3655586793752721,1.5927823661043132,0.71338606911949],"aabb_xy":[[-0.37318294746545033,1.58514914256777],[-0.35793441128509385,1.6004155896408574]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_24","position":[-0.6126426401224809,0.6981907226016211,0.71338606911949],"aabb_xy":[[-0.6501426386981017,0.6854544269380631],[-0.5751426415468601,0.710927018265179]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_25","position":[-0.6130521485344727,0.41403364710505297,0.71338606911949],"aabb_xy":[[-0.6630521479746683,0.3640657226207366],[-0.563052149094277,0.4640015715893692]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_26","position":[-0.10887853262933445,-2.3815868503672544,0.71338606911949],"aabb_xy":[[-0.172878534972136,-2.426527701611387],[-0.04487853028653289,-2.336645999123122]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_27","position":[-0.32764597009047863,-1.1648558816304388,0.71338606911949],"aabb_xy":[[-0.3346874210412263,-1.1718826333682335],[-0.3206045191397311,-1.1578291298926442]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_28","position":[-0.30353811697929467,1.7367391580688092,0.71338606911949],"aabb_xy":[[-0.34881673186044393,1.6727391587206255],[-0.2582595020981454,1.8007391574169929]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_29","position":[-0.129080392298221,1.650464111470963,0.71338606911949],"aabb_xy":[[-0.15158039182192834,1.627968164020342],[-0.10658039277451355,1.6729600589215836]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_30","position":[-0.37344008779063836,1.2369044544017007,0.71338606911949],"aabb_xy":[[-0.38070133536104583,1.2241174441381912],[-0.366178840220231,1.2496914646652102]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_31","position":[0.259691952557606,-0.5605815995152543,0.71338606911949],"aabb_xy":[[0.237192816831379,-0.5830816002935173],[0.28219108828383294,-0.5380815987369914]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6857550886952254,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6679.png","name":"6679"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6679.png","name":"6679"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8650.png","name":"8650"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4830.png","name":"4830"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2245.png","name":"2245"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2790.png","name":"2790"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":686.1421177414596,"rotation_z_degrees":98.71275963208272,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0007418395575272858,-0.009283734492956625,0.017302427429772085]},{"name":"camera_2","offset_m":[0.009265793860903978,0.01688918192426696,0.003313452161506785]},{"name":"camera_3","offset_m":[-0.012573862214870939,0.015409446079772012,-0.009957852362169391]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017028629905168663,-0.00011521249761621728,0.0011055781905302026],"end_effector_yaw_offset_degrees":0.8920030730469246},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008704701833458896,0.0005517625496107652,-0.0011482053603321916],"end_effector_yaw_offset_degrees":-0.9995756556972888},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006943800782164299,7.904347480652872e-05,0.0016261527556955878],"end_effector_yaw_offset_degrees":-0.2875377963610031}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004245501519438807,-0.002472496564104061],"position_m":[0.3498544984805612,-0.08647249656410406,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0034277152330499635,0.00023474072155106433],"position_m":[0.27802771523305,-0.33006525927844893,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002513753892669477,-0.0037205039855931054],"position_m":[0.15818624610733054,0.2104794960144069,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003082631872075847,-0.0007208171607976021],"position_m":[0.34101736812792416,0.1144791828392024,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f01900827e19bebcb986af66ed54ece46ac8f1e5cfef7169ea715cc08ddd7c65","episode_index":31,"episode_name":"episode_0031"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0031.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_6679/tex_ceiling_textures_2790/tex_floor_textures_2245/tex_table_textures_8650/tex_wall_textures_4830","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":7355132602961355088,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":7355132602961355088,"visual_seed":7355132602961355088,"scene_id":"lab_003","finished_at":"2026-09-04T01:24:09"} +{"episode_id":"ep_000032","started_at":"2026-09-04T01:24:12","dimensions":{"distractor":{"count":25,"items":[{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_0","position":[-0.2083887454140616,1.708114897749509,0.71338606911949],"aabb_xy":[[-0.22593544033018054,1.670614896185258],[-0.19084205049794267,1.7456148993137606]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_1","position":[-0.29649039430399404,1.0534956819540375,0.71338606911949],"aabb_xy":[[-0.3013339890652241,1.0486440294750534],[-0.2916467995427641,1.0583473344330216]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_2","position":[0.3624817030522891,-1.5060650287186008,0.71338606911949],"aabb_xy":[[0.3075079810159563,-1.5610650282828338],[0.41745542508862205,-1.4510650291543674]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_3","position":[0.4429306787733984,0.3622010153253554,0.71338606911949],"aabb_xy":[[0.41793067922165983,0.3520585314602207],[0.4679306783251368,0.37234349919049015]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_4","position":[0.545095387359448,0.849049282004803,0.71338606911949],"aabb_xy":[[0.5225953878357404,0.8265533345541821],[0.5675953868831553,0.8715452294554237]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_5","position":[-0.18115881420986668,0.5664618345976531,0.71338606911949],"aabb_xy":[[-0.19633098349150002,0.5512929776694497],[-0.16598664492823334,0.5816306915258564]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_6","position":[-0.4005789392614031,-0.14376607864354884,0.71338606911949],"aabb_xy":[[-0.40471479559410334,-0.18126607808790585],[-0.39644308292870295,-0.10626607919919184]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_7","position":[-0.1207651935211419,-0.8207582367998716,0.71338606911949],"aabb_xy":[[-0.1386343012755974,-0.8345911447770824],[-0.10289608576668641,-0.8069253288226605]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_8","position":[0.09893760292561127,-1.7693530304755543,0.71338606911949],"aabb_xy":[[0.018937604338291832,-1.8486686324137154],[0.17893760151293067,-1.6900374285373936]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_9","position":[0.3630116045089822,-2.2670124338847915,0.71338606911949],"aabb_xy":[[0.3559701535582346,-2.274039185622586],[0.3700530554597298,-2.259985682146997]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_10","position":[-0.076345530314882,-1.769878509842387,0.71338606911949],"aabb_xy":[[-0.0988419517487461,-1.7923785096491345],[-0.053849108881017904,-1.7473785100356396]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_11","position":[0.5680917445398301,0.28758194267237647,0.71338606911949],"aabb_xy":[[0.5330917462697101,0.2805078149773883],[0.6030917428099499,0.29465607036736463]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_12","position":[-0.3146623305378742,1.3891880244198136,0.71338606911949],"aabb_xy":[[-0.33377463789585304,1.3700532455425714],[-0.2955500231798953,1.4083228032970554]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_13","position":[-0.4486722211701366,-2.0191667790301437,0.71338606911949],"aabb_xy":[[-0.5136722221706371,-2.0699531441848187],[-0.3836722201696361,-1.9683804138754688]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_14","position":[0.49207213499364033,-1.091869893675855,0.71338606911949],"aabb_xy":[[0.4280721378815347,-1.140902263470266],[0.556072132105746,-1.0428375238814447]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_15","position":[-0.5828775696579104,0.6868707217429848,0.71338606911949],"aabb_xy":[[-0.6444683288819032,0.6228707236339379],[-0.5212868104339176,0.7508707198520317]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_16","position":[0.038643738989203924,-1.0877572547601086,0.71338606911949],"aabb_xy":[[-0.02635625956786891,-1.1175097881739913],[0.10364373754627676,-1.058004721346226]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_17","position":[-0.23420169245251699,-2.0629941356457975,0.71338606911949],"aabb_xy":[[-0.26768085971355793,-2.096473249016905],[-0.20072252519147607,-2.029515022274691]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_18","position":[0.3439296355024726,1.3931908886523683,0.71338606911949],"aabb_xy":[[0.27992963409448185,1.3414019371284434],[0.4079296369104632,1.4449798401762928]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_19","position":[0.4112168149387678,-2.058005286281738,0.71338606911949],"aabb_xy":[[0.34721681456123415,-2.1077505531325498],[0.4752168153163014,-2.0082600194309252]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_20","position":[-0.44156150270242417,-1.7228060971093102,0.71338606911949],"aabb_xy":[[-0.48281031373233885,-1.7778060966215277],[-0.4003126916725094,-1.6678060975970928]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_21","position":[-0.29718831775359195,-1.2686763931407536,0.71338606911949],"aabb_xy":[[-0.3085500524068781,-1.2800448595470417],[-0.2858265831003058,-1.2573079267344656]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_22","position":[0.5880089720082089,-1.9490543785506529,0.71338606911949],"aabb_xy":[[0.553546493995121,-1.9557180557335758],[0.6224714500212966,-1.9423907013677304]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_23","position":[-0.5116881440236805,-0.13119351559110637,0.71338606911949],"aabb_xy":[[-0.5491881443158552,-0.13523499099170996],[-0.47418814373150553,-0.12715204019050277]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_24","position":[0.06139283124359096,0.7947449623928451,0.71338606911949],"aabb_xy":[[-0.0036071687907117678,0.7480442857125178],[0.1263928312778937,0.8414456390731724]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6874723433773791,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4258.png","name":"4258"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4258.png","name":"4258"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6388.png","name":"6388"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1066.png","name":"1066"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/352.png","name":"352"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9351.png","name":"9351"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":553.8120072437765,"rotation_z_degrees":194.61210357509592,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018087991192795718,0.01886004740870478,0.0012144268311168847]},{"name":"camera_2","offset_m":[-0.01377218341255929,0.015379973974751698,0.01775805374522749]},{"name":"camera_3","offset_m":[0.004726421482267349,0.005008315901261159,0.0017553174327849773]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014898500544112121,-0.00018604652378093468,0.001069330064860239],"end_effector_yaw_offset_degrees":0.3016114270562451},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012247694925089465,0.0008080190071094537,-0.0012039212237890085],"end_effector_yaw_offset_degrees":0.2248196886371967},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000318699724954203,0.0009812910000317728,-0.0007816571464103745],"end_effector_yaw_offset_degrees":-0.7571769719295567}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0026483290427683492,0.0008775556842126487],"position_m":[0.3567483290427684,-0.08312244431578736,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004490440562162009,-0.0013964123629130044],"position_m":[0.27909044056216203,-0.331696412362913,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003825316794504784,0.004744607303069754],"position_m":[0.15687468320549522,0.21894460730306975,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0031802871586621905,-0.0008746111478366726],"position_m":[0.3472802871586622,0.11432538885216333,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"eef38cad88b2905be47953d82e65e38888a38be2dda4637c9b618d9340b0f230","episode_index":32,"episode_name":"episode_0032"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0032.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_4258/tex_ceiling_textures_9351/tex_floor_textures_352/tex_table_textures_6388/tex_wall_textures_1066","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":2851612229307281039,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":2851612229307281039,"visual_seed":2851612229307281039,"scene_id":"lab_003","finished_at":"2026-09-04T01:27:12"} +{"episode_id":"ep_000033","started_at":"2026-09-04T01:27:16","dimensions":{"distractor":{"count":22,"items":[{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_0","position":[-0.3891116974921107,-2.23830682356727,0.71338606911949],"aabb_xy":[[-0.4215733983740381,-2.268439655682172],[-0.3566499966101832,-2.2081739914523664]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_1","position":[-0.45676996038816287,1.3104387540559865,0.71338606911949],"aabb_xy":[[-0.5367699589754822,1.2311231521178254],[-0.37676996180084343,1.3897543559941472]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_2","position":[-0.06137998698987723,-2.2495558260955693,0.71338606911949],"aabb_xy":[[-0.0769357564001425,-2.265106259339977],[-0.04582421757961196,-2.2340053928511625]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_3","position":[0.6661064102226855,-0.4257367707682791,0.71338606911949],"aabb_xy":[[0.6567594026403903,-0.4400403929859232],[0.6754534178049808,-0.4114331485506351]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_4","position":[-0.09399555815669647,0.8264997272482462,0.71338606911949],"aabb_xy":[[-0.10490133424425918,0.746499730849417],[-0.08308978206913376,0.9064997236470753]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_5","position":[0.1345904409544577,-1.257506883190063,0.71338606911949],"aabb_xy":[[0.05459044399141855,-1.3345825248338365],[0.21459043791749688,-1.1804312415462896]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_6","position":[-0.44644856305875735,1.6574714897170524,0.71338606911949],"aabb_xy":[[-0.46894498449262145,1.6349714899103047],[-0.42395214162489325,1.6799714895237996]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_7","position":[0.4849132133559413,-2.357757649187094,0.71338606911949],"aabb_xy":[[0.4349139381875051,-2.4077576504630414],[0.5349124885243774,-2.307757647911147]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_8","position":[-0.4382593274548205,1.736578313024467,0.71338606911949],"aabb_xy":[[-0.46075932746496884,1.722482093384864],[-0.41575932744467226,1.7506745326640705]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_9","position":[0.17114201632212,-2.451790673988269,0.71338606911949],"aabb_xy":[[0.08145494001400458,-2.5417906742427196],[0.26082909263023546,-2.3617906737338186]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_10","position":[0.442676167317293,1.647840036419184,0.71338606911949],"aabb_xy":[[0.4329201778081191,1.6380775023599494],[0.45243215682646687,1.6576025704784183]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_11","position":[0.13675098299445132,-2.282296837502085,0.71338606911949],"aabb_xy":[[0.11046215867401064,-2.308568271156736],[0.16303980731489195,-2.2560254038474334]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_12","position":[-0.3632824704026991,-0.1129905087350247,0.71338606911949],"aabb_xy":[[-0.39828247029871794,-0.12136474424696464],[-0.3282824705066802,-0.10461627322308475]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_13","position":[0.36132183238780335,-2.1674054902309665,0.71338606911949],"aabb_xy":[[0.34615895941086633,-2.1825709475260857],[0.37648470536474055,-2.152240032935848]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_14","position":[-0.45884597050140186,1.447560302332222,0.71338606911949],"aabb_xy":[[-0.4764788060949294,1.429937356316599],[-0.4412131349078742,1.4651832483478449]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_15","position":[0.5458174157824704,-1.4389852648720187,0.71338606911949],"aabb_xy":[[0.4908436937461377,-1.4939852644362521],[0.6007911378188034,-1.3839852653077858]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_16","position":[-0.4759779734265598,1.0822559397047975,0.71338606911949],"aabb_xy":[[-0.5254583946405186,1.0182559417919457],[-0.426497552212601,1.1462559376176493]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_17","position":[0.6438703815288125,-0.7607708015268182,0.71338606911949],"aabb_xy":[[0.5798703823590425,-0.8075374886457807],[0.7078703806985824,-0.7140041144078557]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_18","position":[-0.22230517399384703,-0.6210274267496882,0.71338606911949],"aabb_xy":[[-0.24558701619197837,-0.7060274280469162],[-0.19902333179571569,-0.5360274254524601]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_19","position":[0.32632523671885916,0.597725990681039,0.71338606911949],"aabb_xy":[[0.23632523304194092,0.5362935841039345],[0.41632524039577723,0.6591583972581432]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_20","position":[-0.1992446120423127,0.4252521526223205,0.71338606911949],"aabb_xy":[[-0.20727088267293875,0.4165006576449679],[-0.19121834141168675,0.43400364759967314]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_21","position":[0.328283342202889,1.341860107767591,0.71338606911949],"aabb_xy":[[0.32332732201800785,1.3193601075654695],[0.3332393623877702,1.3643601079697127]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6770232668220966,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9531.png","name":"9531"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9531.png","name":"9531"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1700.png","name":"1700"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8585.png","name":"8585"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8082.png","name":"8082"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3791.png","name":"3791"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":732.3775916243699,"rotation_z_degrees":326.74738876427637,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016469990980581137,0.019802462574837063,-0.008789068537406521]},{"name":"camera_2","offset_m":[-0.014712022516999036,0.0061622175404905735,0.002017423097755225]},{"name":"camera_3","offset_m":[-0.011261140874955734,0.004456065272413875,-0.006286975369429997]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007994556906198449,-0.0019268845155130023,0.0014699576055264042],"end_effector_yaw_offset_degrees":0.8151987693855065},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00042768061711979054,0.0014956637186185348,-0.0017288176292170792],"end_effector_yaw_offset_degrees":0.23784061044977278},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009323446043321888,-0.0004795528658080165,-0.0019254849859874313],"end_effector_yaw_offset_degrees":-0.2253167743483686}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004689748003047506,-0.002813261773781027],"position_m":[0.3587897480030475,-0.08681326177378103,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0039426119362674485,0.004954365933865047],"position_m":[0.2706573880637326,-0.3253456340661349,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004558302252002224,0.00044027803360072084],"position_m":[0.16525830225200222,0.21464027803360072,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0020412684780276324,-0.0012983655834740604],"position_m":[0.34205873152197236,0.11390163441652594,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4e873af7d561d783f082f9a8ff8ea9a722e37060dde71c7e51a82978a10ea5ac","episode_index":33,"episode_name":"episode_0033"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0033.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_9531/tex_ceiling_textures_3791/tex_floor_textures_8082/tex_table_textures_1700/tex_wall_textures_8585","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":2163312954289327973,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":2163312954289327973,"visual_seed":2163312954289327973,"scene_id":"lab_003","finished_at":"2026-09-04T01:29:51"} +{"episode_id":"ep_000034","started_at":"2026-09-04T01:29:54","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_0","position":[-0.36586025677989925,-1.1148431484575994,0.71338606911949],"aabb_xy":[[-0.41585953194833547,-1.1648431497335465],[-0.31586098161146314,-1.0648431471816522]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_1","position":[0.037661501615184445,-0.7990161925648107,0.71338606911949],"aabb_xy":[[-0.017338496586560382,-0.8395381591912483],[0.09266149981692928,-0.7584942259383731]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_2","position":[0.35134866316841973,0.8224936888958934,0.71338606911949],"aabb_xy":[[0.34093710448793596,0.8171479555599948],[0.3617602218489034,0.8278394222317917]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_3","position":[0.5745956933772278,-0.923035575992599,0.71338606911949],"aabb_xy":[[0.5691377477402078,-1.003035579300258],[0.5800536390142479,-0.8430355726849399]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_4","position":[-0.1470436029344453,0.8094222434443572,0.71338606911949],"aabb_xy":[[-0.18834814599818125,0.74542224387624],[-0.10573905987070928,0.8734222430124742]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_5","position":[-0.09279133141029916,0.664123119954104,0.71338606911949],"aabb_xy":[[-0.13029133207487784,0.6484360619538817],[-0.05529133074572045,0.6798101779543261]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_6","position":[-0.06065865334178344,-1.0743142774704644,0.71338606911949],"aabb_xy":[[-0.07583082262341678,-1.0894831343986677],[-0.04548648406015011,-1.059145420542261]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_7","position":[0.24679939803438233,-0.9655498140028778,0.71338606911949],"aabb_xy":[[0.20555058700446763,-1.020549813515095],[0.28804820906429707,-0.9105498144906602]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_8","position":[-0.566580545139505,-0.6240369550547136,0.71338606911949],"aabb_xy":[[-0.5841272400556239,-0.6615369566189649],[-0.549033850223386,-0.5865369534904624]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_9","position":[0.5972047255871245,-1.2311942202349628,0.71338606911949],"aabb_xy":[[0.5472047242262371,-1.2811721248103785],[0.6472047269480116,-1.1812163156595472]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_10","position":[0.15699985908622804,-2.2821942522278214,0.71338606911949],"aabb_xy":[[0.14975609303998272,-2.3621942504314237],[0.16424362513247337,-2.202194254024219]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_11","position":[-0.3795926177171646,-2.4530947438314725,0.71338606911949],"aabb_xy":[[-0.39043309594367953,-2.470281025122121],[-0.3687521394906497,-2.435908462540824]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_12","position":[0.520369916878894,0.7536691490199154,0.71338606911949],"aabb_xy":[[0.5074980133779539,0.6736691486060792],[0.5332418203798341,0.8336691494337515]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_13","position":[-0.2814533431342293,0.9409391711028583,0.71338606911949],"aabb_xy":[[-0.3043690560192792,0.9180348739664349],[-0.2585376302491794,0.9638434682392819]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_14","position":[0.5721249914000155,0.16344574835878944,0.71338606911949],"aabb_xy":[[0.4921249944369763,0.08637010671501597],[0.6521249883630547,0.24052139000256287]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_15","position":[-0.635167795122802,-0.30177123237388237,0.71338606911949],"aabb_xy":[[-0.6663147139663851,-0.37177123106068954],[-0.6040208762792189,-0.2317712336870752]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_16","position":[-0.47070556493072424,1.412268157534048,0.71338606911949],"aabb_xy":[[-0.4925953125196651,1.322268160244799],[-0.4488158173417835,1.5022681548232972]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_17","position":[-0.4493833003366071,1.0511211721246854,0.71338606911949],"aabb_xy":[[-0.4993781332645486,1.0011211732294418],[-0.3993884674086654,1.101121171019929]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_18","position":[0.2186785170306771,-1.6336808778826122,0.71338606911949],"aabb_xy":[[0.1842160390175893,-1.6403445550655351],[0.25314099504376486,-1.6270172006996892]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_19","position":[-0.23754803334008406,-0.9732400193852666,0.71338606911949],"aabb_xy":[[-0.3015480356828856,-1.0181808706293989],[-0.17354803099728247,-0.928299168141134]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_20","position":[-0.20629511978182713,0.6522465281423937,0.71338606911949],"aabb_xy":[[-0.24129512113330887,0.631886792185573],[-0.1712951184303454,0.6726062640992146]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_21","position":[0.042097740610311685,-1.8342618334748892,0.71338606911949],"aabb_xy":[[-0.007881067900004202,-1.884261833480608],[0.09207654912062757,-1.7842618334691704]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_22","position":[0.31999115668738054,-1.326696224388585,0.71338606911949],"aabb_xy":[[0.2849911574945622,-1.3376632703862474],[0.35499115588019875,-1.315729178390922]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_23","position":[-0.6270206182079611,-0.9648324201088374,0.71338606911949],"aabb_xy":[[-0.6910206185854947,-1.0145776869596497],[-0.5630206178304275,-0.915087153258025]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_24","position":[0.4702439041237958,0.4540994772572331,0.71338606911949],"aabb_xy":[[0.39024390696422045,0.442551876299416],[0.5502439012833711,0.4656470782150501]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_25","position":[-0.4209112435584525,-0.6145638239918412,0.71338606911949],"aabb_xy":[[-0.4709112445089853,-0.6461129709953625],[-0.3709112426079197,-0.5830146769883197]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_26","position":[0.6574927329131142,-2.5130611397816054,0.71338606911949],"aabb_xy":[[0.6398171023245157,-2.5307413560610077],[0.6751683635017124,-2.495380923502202]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_27","position":[0.003827050127621523,-1.5325135374737007,0.71338606911949],"aabb_xy":[[-0.08617294637325022,-1.5784251798921587],[0.09382704662849327,-1.4866018950552422]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_28","position":[0.5544637541000861,-2.0766233152892326,0.71338606911949],"aabb_xy":[[0.5044637524385913,-2.126621757544935],[0.6044637557615808,-2.0266248730335295]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6844310822603723,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7381.png","name":"7381"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7381.png","name":"7381"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5011.png","name":"5011"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1572.png","name":"1572"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9716.png","name":"9716"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6826.png","name":"6826"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":684.8647919720152,"rotation_z_degrees":188.98339002749063,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01170135341301778,0.006197894077154539,-0.01971505501290362]},{"name":"camera_2","offset_m":[-0.0063304057728671825,0.011086222895178983,0.0011202095798441454]},{"name":"camera_3","offset_m":[0.007536812732811135,0.013851271041661301,-0.0030047844415797796]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00150026958731018,-0.0013380911728580209,0.0014796506751032176],"end_effector_yaw_offset_degrees":0.9997879297225454},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018332485424901617,-0.00121535708172047,-0.0011729644896593789],"end_effector_yaw_offset_degrees":-0.4590518351681605},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008498054911933025,-0.0006414911274799887,0.0003616663574816871],"end_effector_yaw_offset_degrees":0.17985388270243874}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0028735223751431703,-0.0037544882547947012],"position_m":[0.35122647762485687,-0.0877544882547947,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003865937210061887,0.003800413235834463],"position_m":[0.2784659372100619,-0.3264995867641655,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.000155447066998631,0.0031937110687623197],"position_m":[0.16085544706699864,0.21739371106876232,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004668214468723759,-0.0007337918944694119],"position_m":[0.33943178553127623,0.11446620810553058,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8cd8cd1d5127140ccee5e4eea0a3be5a662c1450e927c8d3d69deaab56f55659","episode_index":34,"episode_name":"episode_0034"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0034.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_7381/tex_ceiling_textures_6826/tex_floor_textures_9716/tex_table_textures_5011/tex_wall_textures_1572","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":5478275213062371043,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":5478275213062371043,"visual_seed":5478275213062371043,"scene_id":"lab_003","finished_at":"2026-09-04T01:32:28"} +{"episode_id":"ep_000035","started_at":"2026-09-04T01:32:31","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_0","position":[0.3153505010075752,-1.1381203892942244,0.71338606911949],"aabb_xy":[[0.25135050389546953,-1.1871527590886348],[0.3793504981196809,-1.0890880194998136]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_1","position":[-0.4761052170319693,-0.7592945609435517,0.71338606911949],"aabb_xy":[[-0.5260785110352297,-0.809294561498099],[-0.4261319230287088,-0.7092945603890043]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_2","position":[0.030851881069649978,1.419401957368048,0.71338606911949],"aabb_xy":[[-0.006648119594928728,1.4037148993678257],[0.06835188173422867,1.43508901536827]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_3","position":[0.35731849781314073,1.5075497646035534,0.71338606911949],"aabb_xy":[[0.33843411404463053,1.4886638398232006],[0.37620288158165094,1.5264356893839062]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_4","position":[-0.14845973604681972,-0.4637078919025539,0.71338606911949],"aabb_xy":[[-0.18277601322143763,-0.5137078918757315],[-0.11414345887220176,-0.41370789192937607]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_5","position":[0.10818409940379992,1.2088009244995037,0.71338606911949],"aabb_xy":[[0.018184102668189706,1.155617461182209],[0.19818409613941013,1.261984387816798]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_6","position":[-0.44461987253647295,-1.1744337364396265,0.71338606911949],"aabb_xy":[[-0.48165398196453263,-1.2088109437733356],[-0.40758576310841316,-1.1400565291059168]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_7","position":[-0.16585036223425553,-0.8253560983313346,0.71338606911949],"aabb_xy":[[-0.2298503645770571,-0.870296949575467],[-0.10185035989145398,-0.780415247087202]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_8","position":[-0.1654299622344635,-2.172201676789052,0.71338606911949],"aabb_xy":[[-0.18244005952451414,-2.188336165287326],[-0.14841986494441284,-2.1560671882907783]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_9","position":[0.32581664568322966,-2.01928616572637,0.71338606911949],"aabb_xy":[[0.29716731332281343,-2.0479317250034454],[0.3544659780436459,-1.9906406064492939]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_10","position":[-0.4931449915338939,0.08742506740172162,0.71338606911949],"aabb_xy":[[-0.5306449918260687,0.08338359200111803],[-0.4556449912417191,0.09146654280232522]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_11","position":[-0.17004971494295051,-1.8621667141763623,0.71338606911949],"aabb_xy":[[-0.18181790173760803,-1.9471667140815838],[-0.158281528148293,-1.7771667142711407]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_12","position":[-0.2571954140257677,-0.09276529747129825,0.71338606911949],"aabb_xy":[[-0.26796838794713546,-0.12776529569033723],[-0.2464224401043999,-0.05776529925225926]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_13","position":[-0.039384259636903285,-1.031446311260327,0.71338606911949],"aabb_xy":[[-0.05283078627094662,-1.044916162913418],[-0.025937733002859953,-1.0179764596072358]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_14","position":[-0.27745827978014526,0.49653941785771805,0.71338606911949],"aabb_xy":[[-0.3414582816924876,0.4406282685997076],[-0.21345827786780291,0.5524505671157285]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_15","position":[0.5681161711770539,-2.476587471255912,0.71338606911949],"aabb_xy":[[0.5642022979816314,-2.4853364866624683],[0.5720300443724763,-2.4678384558493547]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_16","position":[-0.35256336023416146,-0.8819656484473586,0.71338606911949],"aabb_xy":[[-0.35719847538639476,-0.885832983524507],[-0.34792824508192804,-0.8780983133702097]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_17","position":[-0.5283542083030692,-1.8838299308224977,0.71338606911949],"aabb_xy":[[-0.6183542119799873,-1.9452623373996016],[-0.43835420462615093,-1.822397524245393]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_18","position":[0.20729285334044245,-1.7932389559890676,0.71338606911949],"aabb_xy":[[0.1572928537641077,-1.8432195349411737],[0.25729285291677717,-1.7432583770369618]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_19","position":[0.37803721786899014,-0.5218035272449915,0.71338606911949],"aabb_xy":[[0.3280372162074954,-0.5718019695006941],[0.4280372195304849,-0.4718050849892887]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_20","position":[0.42609077607459,-1.8532003728095274,0.71338606911949],"aabb_xy":[[0.3660907754785738,-1.908012845354751],[0.4860907766706062,-1.798387900264304]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_21","position":[-0.055102487294670155,-0.7977365555538627,0.71338606911949],"aabb_xy":[[-0.06151630093785509,-0.804146375801531],[-0.04868867365148521,-0.7913267353061944]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_22","position":[-0.5519086741050515,-0.2481850170977955,0.71338606911949],"aabb_xy":[[-0.6019086750555842,-0.2797341641013169],[-0.5019086731545186,-0.21663587009427407]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_23","position":[0.6237437591994293,1.5935629601837582,0.71338606911949],"aabb_xy":[[0.5597437559097211,1.5502280411798406],[0.6877437624891374,1.6368978791876758]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6791625344280932,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8536.png","name":"8536"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8536.png","name":"8536"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1486.png","name":"1486"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3168.png","name":"3168"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9127.png","name":"9127"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1398.png","name":"1398"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":838.8885488019557,"rotation_z_degrees":269.36809310112693,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0009288467313067657,-0.003345086493369131,-0.002156999197507569]},{"name":"camera_2","offset_m":[0.01749379120890689,0.019646747489469877,0.019544938760538606]},{"name":"camera_3","offset_m":[0.01511171893918926,-0.016469627053679475,0.0027839364663840883]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-3.877411336619067e-05,-0.0007509658177957479,0.0007448907825414199],"end_effector_yaw_offset_degrees":0.6232016953151693},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011541039362799616,-9.443821934253097e-05,0.000450801327339225],"end_effector_yaw_offset_degrees":-0.4161547996333219},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00086700147751664,0.0008106571761921895,-2.9810511862609496e-06],"end_effector_yaw_offset_degrees":-0.053664758512691035}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001651772318344138,-0.001841961527231305],"position_m":[0.3524482276816559,-0.08584196152723131,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003653380523769076,0.0010471560952846634],"position_m":[0.27094661947623094,-0.3292528439047153,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0025242875900814343,0.0014100028696453614],"position_m":[0.16322428759008145,0.21561000286964535,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0044268027424599595,-0.0036405222733898145],"position_m":[0.34852680274245995,0.11155947772661018,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3d0413ce69d0dd3ebb12beebd1da1facfa12330c07841f24dfaa188d6b7ad315","episode_index":35,"episode_name":"episode_0035"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0035.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_8536/tex_ceiling_textures_1398/tex_floor_textures_9127/tex_table_textures_1486/tex_wall_textures_3168","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":3422984867256718675,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":3422984867256718675,"visual_seed":3422984867256718675,"scene_id":"lab_003","finished_at":"2026-09-04T01:35:14"} +{"episode_id":"ep_000036","started_at":"2026-09-04T01:35:18","dimensions":{"distractor":{"count":25,"items":[{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_0","position":[0.09497318894679041,1.0474699073747682,0.71338606911949],"aabb_xy":[[0.08692982902083525,0.9624699062794015],[0.1030165488727456,1.1324699084701344]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_1","position":[0.3305664398311907,-1.1011878258836116,0.71338606911949],"aabb_xy":[[0.3193213842605729,-1.1124296236077067],[0.34181149540180855,-1.0899460281595161]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_2","position":[-0.5790796451338167,-0.22230719223831974,0.71338606911949],"aabb_xy":[[-0.5966579473227636,-0.2398816818124246],[-0.5615013429448699,-0.2047327026642148]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_3","position":[-0.15892949050080718,0.38378311991170033,0.71338606911949],"aabb_xy":[[-0.22292948908737964,0.33677615651219167],[-0.09492949191423472,0.4307900833112091]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_4","position":[-0.4440761721332528,-1.0643042845394124,0.71338606911949],"aabb_xy":[[-0.4940549806435687,-1.114304284545131],[-0.3940973636229369,-1.0143042845336934]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_5","position":[-0.6847670419186739,-0.9285256467688303,0.71338606911949],"aabb_xy":[[-0.6923913100088522,-0.9361588703053743],[-0.6771427738284957,-0.9208924232322868]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_6","position":[-0.039558408438251313,-1.3232266383405205,0.71338606911949],"aabb_xy":[[-0.103558405550357,-1.372259008134931],[0.024441588673854375,-1.2741942685461098]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_7","position":[-0.09283655753953357,1.3752830409963397,0.71338606911949],"aabb_xy":[[-0.10419829219281973,1.3639145745900514],[-0.08147482288624741,1.3866515074026275]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_8","position":[-0.19737328663824383,1.0598912503832767,0.71338606911949],"aabb_xy":[[-0.277373288068371,0.9803740953706672],[-0.1173732852081166,1.1394084053958862]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_9","position":[-0.15329836808596953,-0.45949167011805203,0.71338606911949],"aabb_xy":[[-0.19606507496538972,-0.5234916735398545],[-0.11053166120654934,-0.3954916666962496]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_10","position":[0.33272587708360635,-1.2760806054241993,0.71338606911949],"aabb_xy":[[0.2727258772370396,-1.332899227617238],[0.3927258769301732,-1.2192619832311606]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_11","position":[-0.6156929400421651,-2.4491922738735776,0.71338606911949],"aabb_xy":[[-0.6248528189860417,-2.4557234919171145],[-0.6065330610982885,-2.442661055830041]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_12","position":[-0.3838701584771871,1.7501160594968987,0.71338606911949],"aabb_xy":[[-0.3919064931784719,1.7420779401924817],[-0.37583382377590224,1.7581541788013153]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_13","position":[0.24537417135158845,-2.537286377559282,0.71338606911949],"aabb_xy":[[0.16537417027846815,-2.5470644238966664],[0.3253741724247088,-2.5275083312218976]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_14","position":[-0.02374265555965127,-1.9337674320635672,0.71338606911949],"aabb_xy":[[-0.07374265722114602,-1.9837658743192699],[0.026257346101843493,-1.8837689898078644]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_15","position":[-0.4396998011387124,-1.965510022064758,0.71338606911949],"aabb_xy":[[-0.48969979978463357,-2.0154295657242205],[-0.3896998024927912,-1.9155904784052955]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_16","position":[-0.3777921611775372,1.4966267244433724,0.71338606911949],"aabb_xy":[[-0.4002921609914396,1.4921521080728917],[-0.35529216136363484,1.5011013408138532]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_17","position":[-0.4785502072506872,0.8028224380080031,0.71338606911949],"aabb_xy":[[-0.5285502068270219,0.7528418590558971],[-0.4285502076743525,0.852803016960109]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_18","position":[0.5611961166156192,-1.0722143453353095,0.71338606911949],"aabb_xy":[[0.4971961145658871,-1.1123088284246174],[0.6251961186653511,-1.0321198622460015]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_19","position":[0.37654661966167824,-1.6363964804796458,0.71338606911949],"aabb_xy":[[0.33904661971791183,-1.6446895705144824],[0.41404661960544464,-1.6281033904448092]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_20","position":[-0.508619429087021,-0.10761458176736438,0.71338606911949],"aabb_xy":[[-0.5936194277790955,-0.13960044516224324],[-0.4236194303949462,-0.07562871837248553]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_21","position":[-0.025191783182576866,0.9389420239567308,0.71338606911949],"aabb_xy":[[-0.045250194795817156,0.9188769370475732],[-0.005133371569336576,0.9590071108658883]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_22","position":[0.4511227502397068,1.1045738267628313,0.71338606911949],"aabb_xy":[[0.4440812992889592,1.0975470750250367],[0.45816420119045437,1.1116005785006255]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_23","position":[-0.5791808335646416,-2.0575940462025404,0.71338606911949],"aabb_xy":[[-0.6263102125664771,-2.1215940472469423],[-0.5320514545628058,-1.9935940451581384]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_24","position":[0.6856219197028075,0.28248829222434146,0.71338606911949],"aabb_xy":[[0.6769079506528729,0.25998829156515313],[0.6943358887527419,0.3049882928835296]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6851135847518997,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9111.png","name":"9111"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9111.png","name":"9111"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6557.png","name":"6557"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2750.png","name":"2750"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9773.png","name":"9773"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4811.png","name":"4811"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":649.1295882441602,"rotation_z_degrees":57.98775540042264,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01815804256562208,-0.012833590285693579,0.015025104898163211]},{"name":"camera_2","offset_m":[-0.016178873875389927,0.008266981554272284,-0.002911655764090873]},{"name":"camera_3","offset_m":[-0.008665387474689448,-0.015044967382247441,0.01052937263503673]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012202723810825847,0.0007547208863081184,0.0015920645161849696],"end_effector_yaw_offset_degrees":-0.46790243147408384},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015698191867697937,-0.0005720055390089852,0.001922170112658701],"end_effector_yaw_offset_degrees":-0.9086955397228411},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000293201929209464,0.0013813820760561054,-0.0006238612452581624],"end_effector_yaw_offset_degrees":-0.6418884173240329}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004608759691001591,0.004149452931679843],"position_m":[0.35870875969100163,-0.07985054706832016,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0030894804010828383,0.0009518936558917356],"position_m":[0.2776894804010828,-0.32934810634410827,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0023265658376412654,-0.0016876814466628889],"position_m":[0.16302656583764127,0.2125123185533371,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003144852795268084,0.0011788000075764827],"position_m":[0.3409551472047319,0.11637880000757649,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"270c7bc34edd5de50abbd18557f5eeed813ae0cc9878f8717bec1f1ff5691d22","episode_index":36,"episode_name":"episode_0036"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0036.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_9111/tex_ceiling_textures_4811/tex_floor_textures_9773/tex_table_textures_6557/tex_wall_textures_2750","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":5101277977278450364,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":5101277977278450364,"visual_seed":5101277977278450364,"scene_id":"lab_003","finished_at":"2026-09-04T01:37:57"} +{"episode_id":"ep_000037","started_at":"2026-09-04T01:38:01","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_0","position":[-0.6176823137623993,-1.546579574585884,0.71338606911949],"aabb_xy":[[-0.6826823164001928,-1.5980591732853309],[-0.5526823111246059,-1.495099975886437]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_1","position":[-0.04278518236063522,-0.8887841964309244,0.71338606911949],"aabb_xy":[[-0.07778518155345349,-0.8997512424285868],[-0.007785183167816949,-0.8778171504332616]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_2","position":[0.5779737192344021,-0.21013964859607182,0.71338606911949],"aabb_xy":[[0.5129737206773293,-0.23989218200995444],[0.6429737177914749,-0.1803871151821892]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_3","position":[-0.6280293759023534,1.6576264626158275,0.71338606911949],"aabb_xy":[[-0.6439138691676785,1.6432735223170034],[-0.6121448826370282,1.6719794029146515]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_4","position":[-0.29166850655503873,-2.3063097108199804,0.71338606911949],"aabb_xy":[[-0.34164592342029226,-2.3563097123092285],[-0.24169108968978512,-2.2563097093307314]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_5","position":[0.5950782702836537,-1.3094409503494084,0.71338606911949],"aabb_xy":[[0.5775782710055668,-1.3267790504157544],[0.6125782695617406,-1.2921028502830625]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_6","position":[-0.2740522363052073,-1.8268200723683379,0.71338606911949],"aabb_xy":[[-0.29927307316504687,-1.8520438232212244],[-0.24883139944536756,-1.801596321515451]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_7","position":[0.5138648164564557,1.7464982590708673,0.71338606911949],"aabb_xy":[[0.4338648194934164,1.6694226174270934],[0.5938648134194947,1.8235739007146403]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_8","position":[0.27029194738361506,-2.054568299475402,0.71338606911949],"aabb_xy":[[0.2559575222574516,-2.066628515029941],[0.2846263725097785,-2.042508083920863]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_9","position":[0.661997341054462,1.5059657508647786,0.71338606911949],"aabb_xy":[[0.6206927979907259,1.441965751296661],[0.7033018841181978,1.5699657504328952]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_10","position":[-0.6161686138666308,-1.0613006615301432,0.71338606911949],"aabb_xy":[[-0.653668612290031,-1.0744648754979738],[-0.5786686154432303,-1.0481364475623123]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_11","position":[-0.6554673400672176,-2.522997974058898,0.71338606911949],"aabb_xy":[[-0.6929673407317962,-2.5386850320591194],[-0.6179673394026388,-2.507310916058675]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_12","position":[-0.24164646108993798,1.4777719250600323,0.71338606911949],"aabb_xy":[[-0.29164646066627276,1.4277913461079264],[-0.1916464615136033,1.5277525040121382]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_13","position":[0.003538846439582688,-1.7668889609705971,0.71338606911949],"aabb_xy":[[-0.029901328756436914,-1.8003325868015272],[0.03697902163560229,-1.733445335139667]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_14","position":[-0.016139634159606953,0.6628268595597633,0.71338606911949],"aabb_xy":[[-0.02077474931184034,0.6589595244826145],[-0.011504519007373567,0.6666941946369118]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_15","position":[-0.2610583121301612,-1.2722861992765622,0.71338606911949],"aabb_xy":[[-0.31605378995082056,-1.3272862007104689],[-0.20606283430950179,-1.217286197842655]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_16","position":[-0.3160715550281212,-2.0664630407229048,0.71338606911949],"aabb_xy":[[-0.3464696661272647,-2.096869942724574],[-0.28567344392897753,-2.036056138721235]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_17","position":[-0.5056792535402984,-1.0042831462452015,0.71338606911949],"aabb_xy":[[-0.5225899859766401,-1.0177553518378157],[-0.4887685211039566,-0.9908109406525869]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_18","position":[0.194062824707108,0.7167157459872628,0.71338606911949],"aabb_xy":[[0.18229463791245049,0.6317157460820414],[0.20583101150176555,0.8017157458924846]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_19","position":[0.007786082116335025,-1.3054421408881032,0.71338606911949],"aabb_xy":[[-0.00025025258494981804,-1.3134802601925195],[0.015822416817619867,-1.297404021583686]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_20","position":[-0.5787806630926922,0.14459746933256934,0.71338606911949],"aabb_xy":[[-0.5881276706749874,0.1302938471149253],[-0.5694336555103969,0.15890109155021337]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6868050644258789,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2972.png","name":"2972"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2972.png","name":"2972"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7074.png","name":"7074"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3101.png","name":"3101"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4143.png","name":"4143"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7737.png","name":"7737"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":737.4096017269965,"rotation_z_degrees":159.7196473619751,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00590444069858838,0.006548943474568553,0.0062860449490501]},{"name":"camera_2","offset_m":[0.01827449106966982,0.009663239631002261,-0.002930850181335449]},{"name":"camera_3","offset_m":[0.007163391437581081,-0.01685144142914433,-0.01894664753317319]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00046945623475592264,0.0008169397512310305,0.0018023731490630327],"end_effector_yaw_offset_degrees":0.9427754370677826},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001421948401208542,-0.0001561145914003065,-0.0013367034492993658],"end_effector_yaw_offset_degrees":-0.12003991314958662},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001629911196896559,0.0007184721677919227,-0.00016068595619707251],"end_effector_yaw_offset_degrees":0.6773562209679878}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0007005711226960197,-0.003602441127924935],"position_m":[0.353399428877304,-0.08760244112792494,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0037627311817117403,-0.0013343506642978322],"position_m":[0.27836273118171173,-0.3316343506642978,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0021741887151943617,-0.002482730535779405],"position_m":[0.15852581128480564,0.2117172694642206,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.000419978924722275,0.0011903379765506187],"position_m":[0.34368002107527773,0.11639033797655061,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"432fde8a5d2d8a8a92bbae685b950b41f1f25aa1733497a907837e35da43763a","episode_index":37,"episode_name":"episode_0037"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0037.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2972/tex_ceiling_textures_7737/tex_floor_textures_4143/tex_table_textures_7074/tex_wall_textures_3101","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":7653580218205161078,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":7653580218205161078,"visual_seed":7653580218205161078,"scene_id":"lab_003","finished_at":"2026-09-04T01:40:44"} +{"episode_id":"ep_000038","started_at":"2026-09-04T01:40:49","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_0","position":[0.45370344029543985,0.7232441146385691,0.71338606911949],"aabb_xy":[[0.38870344213952074,0.6969478700886569],[0.5187034384513589,0.7495403591884813]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_1","position":[-0.33981446377996904,1.6632281428991038,0.71338606911949],"aabb_xy":[[-0.3748144636759879,1.6548539073871638],[-0.30481446388395017,1.6716023784110439]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_2","position":[-0.19189840921999957,1.3684195967651727,0.71338606911949],"aabb_xy":[[-0.21689840915251749,1.3615369285442493],[-0.1668984092874817,1.375302264986096]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_3","position":[-0.4689145518713199,-2.5361613647490038,0.71338606911949],"aabb_xy":[[-0.5329145550899579,-2.582884476648012],[-0.4049145486526821,-2.4894382528499954]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_4","position":[0.12491876934277835,-2.011249915759029,0.71338606911949],"aabb_xy":[[0.09658905939423812,-2.015710657952746],[0.15324847929131857,-2.006789173565312]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_5","position":[0.3090674050077753,-1.1975264727226478,0.71338606911949],"aabb_xy":[[0.2619380260059395,-1.2615264737670495],[0.35619678400961086,-1.1335264716782456]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_6","position":[0.2682513748424886,-0.6324167951314243,0.71338606911949],"aabb_xy":[[0.23325137571253296,-0.6381620162070883],[0.3032513739724443,-0.6266715740557601]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_7","position":[-0.5832595722214404,1.7400829809410587,0.71338606911949],"aabb_xy":[[-0.6061752851064903,1.7171786838046357],[-0.5603438593363905,1.7629872780774827]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_8","position":[-0.10838654275029036,-0.062412310495712386,0.71338606911949],"aabb_xy":[[-0.11716776989752663,-0.07119205778424254],[-0.09960531560305418,-0.053632563207182245]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_9","position":[0.5270952008108876,0.08920882753242232,0.71338606911949],"aabb_xy":[[0.4570952044009256,0.06877089188074056],[0.5970951972208491,0.10964676318410402]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_10","position":[-0.3947487157527615,0.45942067625467997,0.71338606911949],"aabb_xy":[[-0.39882687365981123,0.45533969600641666],[-0.39067055784571175,0.4635016565029433]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_11","position":[0.43554025254102413,1.058726653983467,0.71338606911949],"aabb_xy":[[0.42751398191039813,1.0499751590061144],[0.44356652317165013,1.0674781489608196]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_12","position":[-0.2527268996762718,-1.3018427937073438,0.71338606911949],"aabb_xy":[[-0.3027098498637511,-1.3518427933499042],[-0.20274394948879246,-1.2518427940647834]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_13","position":[-0.17806696540499178,0.6549647397948766,0.71338606911949],"aabb_xy":[[-0.18220282173769203,0.6174647403505196],[-0.17393110907229165,0.6924647392392336]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_14","position":[-0.4570514619235987,-0.3682325304439802,0.71338606911949],"aabb_xy":[[-0.4748449688585151,-0.3860322760397778],[-0.43925795498868225,-0.35043278484818247]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_15","position":[-0.3032070898953623,1.4851182365829696,0.71338606911949],"aabb_xy":[[-0.3375040009131029,1.450821350373028],[-0.26891017887762164,1.5194151227929107]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_16","position":[0.5514251036878022,-1.09898642449573,0.71338606911949],"aabb_xy":[[0.501542406810106,-1.1489864237420049],[0.6013078005654984,-1.0489864252494554]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_17","position":[0.5284414389454735,0.46883714431511647,0.71338606911949],"aabb_xy":[[0.448441436782711,0.38888196068897274],[0.608441441108236,0.54879232794126]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_18","position":[-0.14053316736266552,1.794628226469714,0.71338606911949],"aabb_xy":[[-0.15569604033960263,1.7794627691745954],[-0.12537029438572847,1.809793683764833]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_19","position":[-0.39578220258310515,1.0330064589432246,0.71338606911949],"aabb_xy":[[-0.47578220285671213,0.9600569111175078],[-0.31578220230949816,1.1059560067689411]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_20","position":[0.024503819163763096,-2.4388480865992035,0.71338606911949],"aabb_xy":[[-0.055490004414795124,-2.518848089192045],[0.10449764274232132,-2.358848084006362]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_21","position":[0.18763722798396754,-1.6328884041103637,0.71338606911949],"aabb_xy":[[0.13000675909669662,-1.6928884030370739],[0.2452676968712383,-1.5728884051836527]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_22","position":[-0.25517912349090743,-1.8170441550334404,0.71338606911949],"aabb_xy":[[-0.2916749441181862,-1.853528097460198],[-0.2186833028636287,-1.7805602126066828]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_23","position":[0.5596367811916025,-0.6359136233998774,0.71338606911949],"aabb_xy":[[0.5421367819135158,-0.6532517234662233],[0.5771367804696895,-0.6185755233335314]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_24","position":[-0.4970351869061862,-1.6731550015832157,0.71338606911949],"aabb_xy":[[-0.5870351866293602,-1.6962283541183953],[-0.4070351871830119,-1.6500816490480357]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_25","position":[-0.15025008067050938,-0.29148417838966534,0.71338606911949],"aabb_xy":[[-0.20537528630010016,-0.35148417983095237],[-0.09512487504091861,-0.2314841769483781]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_26","position":[0.4467943472845872,-0.6982885029824626,0.71338606911949],"aabb_xy":[[0.39697756781975235,-0.748288501466766],[0.49661112674942187,-0.6482885044981592]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_27","position":[0.0525755812424934,-0.9826962724970669,0.71338606911949],"aabb_xy":[[0.04465230100374507,-1.0051962727350703],[0.060498861481241735,-0.9601962722590636]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_28","position":[0.589224870704214,1.2394964262829857,0.71338606911949],"aabb_xy":[[0.5242248680664207,1.1880168275835385],[0.6542248733420076,1.2909760249824325]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6862565319540451,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4567.png","name":"4567"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4567.png","name":"4567"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8134.png","name":"8134"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/141.png","name":"141"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8117.png","name":"8117"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7898.png","name":"7898"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":651.2555277755824,"rotation_z_degrees":82.04829530688885,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0039245312019818325,0.011617951386256289,-0.0028992971444920072]},{"name":"camera_2","offset_m":[0.0012814599762650224,0.003700847478355699,-0.0023133452896943567]},{"name":"camera_3","offset_m":[-0.019058498843985087,0.007516171741354025,-0.013248897644661799]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012881498469067714,0.0013003440539744904,0.000798849054560455],"end_effector_yaw_offset_degrees":0.7556940845317583},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015726537489051174,-0.000294513317919161,0.0005038649537759438],"end_effector_yaw_offset_degrees":-0.4978961709542007},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017156660530040395,-0.0013116324179306429,0.0010898370348456548],"end_effector_yaw_offset_degrees":-0.28916600664906755}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004276026605090462,0.0001644170920058483],"position_m":[0.3583760266050905,-0.08383558290799416,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004989240953960247,0.002044901803569081],"position_m":[0.27958924095396026,-0.3282550981964309,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0016667143181758005,0.0012276220038460808],"position_m":[0.16236671431817581,0.21542762200384608,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0037099237190183765,-0.002951098417103202],"position_m":[0.3403900762809816,0.1122489015828968,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c774c90e57770da25c10302587f26ad9707e59d7bb30ba274b9603f041dabefc","episode_index":38,"episode_name":"episode_0038"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0038.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_4567/tex_ceiling_textures_7898/tex_floor_textures_8117/tex_table_textures_8134/tex_wall_textures_141","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":4005785856614901744,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":4005785856614901744,"visual_seed":4005785856614901744,"scene_id":"lab_003","finished_at":"2026-09-04T01:43:25"} +{"episode_id":"ep_000039","started_at":"2026-09-04T01:43:28","dimensions":{"distractor":{"count":31,"items":[{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_0","position":[0.5938255064819002,0.6409674045826663,0.71338606911949],"aabb_xy":[[0.5830525325605325,0.6059674063636273],[0.604598480403268,0.6759674028017053]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_1","position":[-0.5028830828180725,1.0986841443239599,0.71338606911949],"aabb_xy":[[-0.5403830813936932,1.085947848660402],[-0.4653830842424516,1.1114204399875178]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_2","position":[-0.2757441730339685,0.23662710950439347,0.71338606911949],"aabb_xy":[[-0.3255609524988033,0.1866271110200901],[-0.22592739356913377,0.28662710798869684]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_3","position":[-0.29497698713018516,0.8624121200207133,0.71338606911949],"aabb_xy":[[-0.3030906418035622,0.8543063035666842],[-0.286863332456808,0.8705179364747424]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_4","position":[-0.3385995760379795,1.0504403079493865,0.71338606911949],"aabb_xy":[[-0.4035995771439228,1.0254749348812584],[-0.27359957493203624,1.075405681017515]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_5","position":[0.01284341960439972,0.8690400894235619,0.71338606911949],"aabb_xy":[[0.0009713365928986101,0.7840400897299116],[0.02471550261590083,0.9540400891172123]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_6","position":[-0.4726232695019942,-0.3067639405090197,0.71338606911949],"aabb_xy":[[-0.5376232704591213,-0.35871215244272525],[-0.4076232685448669,-0.2548157285753141]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_7","position":[0.12404594323335827,-0.6829688818708686,0.71338606911949],"aabb_xy":[[0.07876732835220901,-0.7469688812190522],[0.16932455811450753,-0.6189688825226849]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_8","position":[-0.19816621727994266,1.763317025824644,0.71338606911949],"aabb_xy":[[-0.2621662196227442,1.7183761745805113],[-0.1341662149371411,1.8082578770687763]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_9","position":[0.5189773409539311,-0.7263677665157167,0.71338606911949],"aabb_xy":[[0.4937565040940914,-0.7515915173686034],[0.5441981778137707,-0.7011440156628299]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_10","position":[-0.5777041496463581,1.4990419311754049,0.71338606911949],"aabb_xy":[[-0.6417041516960901,1.4589474480860969],[-0.5137041475966261,1.5391364142647128]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_11","position":[-0.20773155413496053,0.41166711404401957,0.71338606911949],"aabb_xy":[[-0.25770461966747604,0.3616671142314867],[-0.15775848860244507,0.4616671138565525]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_12","position":[-0.19907790105757134,-0.8165757926472623,0.71338606911949],"aabb_xy":[[-0.23022481990115443,-0.8865757913340695],[-0.1679309822139882,-0.7465757939604551]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_13","position":[-0.22990846663116793,-1.0449467512859563,0.71338606911949],"aabb_xy":[[-0.24253525391836428,-1.0544928249875292],[-0.21728167934397158,-1.0354006775843834]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_14","position":[0.3787401353648647,-2.060418299876016,0.71338606911949],"aabb_xy":[[0.3412401345728692,-2.066786140834206],[0.4162401361568601,-2.0540504589178257]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_15","position":[-0.3252088392128044,-0.9127384731736694,0.71338606911949],"aabb_xy":[[-0.3384397847474856,-0.9259658921956688],[-0.311977893678123,-0.89951105415167]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_16","position":[-0.31705963529604525,-0.3705459676351901,0.71338606911949],"aabb_xy":[[-0.3295269934057809,-0.3830112922685136],[-0.3045922771863096,-0.3580806430018666]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_17","position":[-0.5655153008091324,0.12359072940927174,0.71338606911949],"aabb_xy":[[-0.5829460158881388,0.10631861474542091],[-0.5480845857301258,0.14086284407312252]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_18","position":[-0.07181821549934986,-2.1431972790725773,0.71338606911949],"aabb_xy":[[-0.1218024512075271,-2.193197277886073],[-0.021833979791172645,-2.0931972802590817]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_19","position":[-0.12035692993125358,-2.3550247611465696,0.71338606911949],"aabb_xy":[[-0.18535692808717263,-2.3813210056964818],[-0.0553569317753345,-2.3287285165966574]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_20","position":[-0.039042531406209835,1.1890026689032815,0.71338606911949],"aabb_xy":[[-0.089041806574646,1.1390026676273344],[0.010956743762226329,1.2390026701792287]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_21","position":[0.6435714802504324,-1.1537849954007007,0.71338606911949],"aabb_xy":[[0.6067768471255262,-1.190690870497283],[0.6803661133753387,-1.1168791203041184]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_22","position":[0.6029569211021555,-2.3172759474475697,0.71338606911949],"aabb_xy":[[0.5784432970051496,-2.341540540749606],[0.6274705451991613,-2.2930113541455333]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_23","position":[0.06287993808753145,-1.0418680378619407,0.71338606911949],"aabb_xy":[[0.04036624626407426,-1.1118680384629482],[0.08539362991098864,-0.9718680372609332]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_24","position":[0.3325522440166393,1.4598487314151058,0.71338606911949],"aabb_xy":[[0.2725522434206231,1.4050362588698824],[0.3925522446126555,1.5146612039603293]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_25","position":[0.7012075480766642,-2.4439370493021184,0.71338606911949],"aabb_xy":[[0.6787075485529567,-2.4664329967527387],[0.7237075476003715,-2.421441101851497]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_26","position":[0.023304753145594992,1.417798401854848,0.71338606911949],"aabb_xy":[[-0.04069524328172691,1.3706287780327517],[0.0873047495729169,1.4649680256769446]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_27","position":[-0.6237283673127747,-0.8337900304653492,0.71338606911949],"aabb_xy":[[-0.6877283666069429,-0.8977761708342034],[-0.5597283680186065,-0.769803890096495]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_28","position":[0.6564804365818651,1.518358976640385,0.71338606911949],"aabb_xy":[[0.651147921927252,1.5130346483951498],[0.6618129512364781,1.5236833048856209]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_29","position":[0.692045510957153,-1.6263694632601955,0.71338606911949],"aabb_xy":[[0.6670455114054146,-1.6365119471253302],[0.7170455105088915,-1.6162269793950608]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_30","position":[-0.20204947570885678,-1.406542238498018,0.71338606911949],"aabb_xy":[[-0.2245494757190051,-1.4206384581376215],[-0.17954947569870852,-1.392446018858415]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6860789348452185,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6534.png","name":"6534"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6534.png","name":"6534"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1938.png","name":"1938"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7428.png","name":"7428"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7794.png","name":"7794"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3751.png","name":"3751"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":716.5019863031704,"rotation_z_degrees":64.06790163824759,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0038972025220310215,0.018660638419595043,0.011113699907533369]},{"name":"camera_2","offset_m":[-0.005877213896400151,-0.01665482461071803,0.010345175858208776]},{"name":"camera_3","offset_m":[-0.005687486453317705,0.011449884012345864,-0.009024827748503128]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001814063194020633,-0.0016973769982975017,-5.13299631589156e-05],"end_effector_yaw_offset_degrees":0.5545386088578361},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017479721677444208,-0.0006385657678728794,0.0019852361122852666],"end_effector_yaw_offset_degrees":0.8015436097564004},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00044054340228480145,-0.0014657029428864217,0.0017659265812106522],"end_effector_yaw_offset_degrees":0.31368346465191466}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0021542649353293755,-0.001829938375973924],"position_m":[0.35194573506467064,-0.08582993837597393,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0011926043556862546,-0.004467508391561506],"position_m":[0.27579260435568625,-0.3347675083915615,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004436029237288921,-0.0037508929004599813],"position_m":[0.1562639707627111,0.21044910709954,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004345088828573657,-0.004499662804954266],"position_m":[0.34844508882857367,0.11070033719504573,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0d3a586d20492bf1fa53368bc9565e52b30fd7deab5f8e7a694c11158b8961c1","episode_index":39,"episode_name":"episode_0039"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0039.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_6534/tex_ceiling_textures_3751/tex_floor_textures_7794/tex_table_textures_1938/tex_wall_textures_7428","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":2923886580898727581,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":2923886580898727581,"visual_seed":2923886580898727581,"scene_id":"lab_003","finished_at":"2026-09-04T01:46:05"} +{"episode_id":"ep_000040","started_at":"2026-09-04T01:46:08","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_0","position":[0.5492579744541508,-0.23019609362179727,0.71338606911949],"aabb_xy":[[0.5270854474774999,-0.25237176077792045],[0.5714305014308015,-0.20802042646567406]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_1","position":[0.1646334288665896,1.4053238665491934,0.71338606911949],"aabb_xy":[[0.09963342622879612,1.3538442678497464],[0.2296334315043831,1.4568034652486404]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_2","position":[-0.14980606330943225,0.13849156497887405,0.71338606911949],"aabb_xy":[[-0.16969710318977252,0.1258357536941772],[-0.12991502342909203,0.1511473762635709]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_3","position":[0.6750947031756958,0.007154023147115218,0.71338606911949],"aabb_xy":[[0.6406322251626079,0.0004903459641923957],[0.7095571811887834,0.01381770033003804]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_4","position":[0.31887450618210766,0.758622245840471,0.71338606911949],"aabb_xy":[[0.26899180930441147,0.7086222465941963],[0.36875720305980386,0.8086222450867458]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_5","position":[-0.6044324940084894,1.6559072739058052,0.71338606911949],"aabb_xy":[[-0.6093317863150528,1.6282303546032362],[-0.5995332017019258,1.6835841932083737]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_6","position":[-0.10641810381297578,1.2906902130423874,0.71338606911949],"aabb_xy":[[-0.18641810707081874,1.2106937052504037],[-0.02641810055513283,1.3706867208343716]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_7","position":[0.1483255451898332,-1.6284280582534763,0.71338606911949],"aabb_xy":[[0.06832554375970601,-1.7079452132660855],[0.2283255466199604,-1.5489109032408666]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_8","position":[-0.24127631178752068,-0.14528183413007545,0.71338606911949],"aabb_xy":[[-0.2787763129723134,-0.14970005682613596],[-0.20377631060272786,-0.14086361143401488]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_9","position":[-0.13406305578073663,1.007319211193367,0.71338606911949],"aabb_xy":[[-0.1559528033696774,0.9173192139041181],[-0.11217330819179581,1.0973192084826162]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_10","position":[-0.14587503003331703,0.8017692070874611,0.71338606911949],"aabb_xy":[[-0.1640808536945647,0.7907438065054696],[-0.12766920637206935,0.8127946076694529]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_11","position":[-0.4647632165998504,-1.7007567701758424,0.71338606911949],"aabb_xy":[[-0.5347632130098121,-1.7211947058275239],[-0.3947632201898885,-1.6803188345241604]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_12","position":[-0.6682816387091761,1.071412866750542,0.71338606911949],"aabb_xy":[[-0.6717223149492333,1.0675514337761776],[-0.664840962469119,1.0752742997249065]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_13","position":[0.6509772202336686,-0.880918357645055,0.71338606911949],"aabb_xy":[[0.6009772189498285,-0.9308972120356772],[0.7009772215175084,-0.830939503254433]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_14","position":[0.6361493969509731,-0.19269009895764633,0.71338606911949],"aabb_xy":[[0.6317187675961329,-0.19813847069232896],[0.6405800263058132,-0.18724172722296376]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_15","position":[0.3807490534406026,1.0713288856913303,0.71338606911949],"aabb_xy":[[0.36324905416251574,1.0539907856249844],[0.3982490527186895,1.0886669857576763]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_16","position":[-0.6319136856850313,-2.3283524521687293,0.71338606911949],"aabb_xy":[[-0.6554988091489261,-2.393352454414161],[-0.6083285622211364,-2.2633524499232975]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_17","position":[0.09683202758577025,1.6928613683008593,0.71338606911949],"aabb_xy":[[0.016832025423007782,1.6129061846747157],[0.17683202974853274,1.772816551927003]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_18","position":[-0.1893607771486382,-1.9449478963566396,0.71338606911949],"aabb_xy":[[-0.2263948865766979,-1.9793251036903488],[-0.15232666772057848,-1.91057068902293]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_19","position":[-0.5524726436155416,1.2010954337210338,0.71338606911949],"aabb_xy":[[-0.5776934804753812,1.1758716828681466],[-0.5272518067557018,1.22631918457392]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_20","position":[-0.4228552098181207,1.1605553320143294,0.71338606911949],"aabb_xy":[[-0.4566307690088136,1.1465168368011642],[-0.38907965062742766,1.174593827227494]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_21","position":[-0.11385528263607358,-0.9742274062772067,0.71338606911949],"aabb_xy":[[-0.14976878706106328,-1.0101409144939613],[-0.0779417782110839,-0.9383138980604521]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_22","position":[-0.29749185282330315,0.7429980796301234,0.71338606911949],"aabb_xy":[[-0.30678547106045373,0.7054980811419895],[-0.28819823458615257,0.7804980781182573]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_23","position":[-0.651019749817319,1.0101400018053042,0.71338606911949],"aabb_xy":[[-0.6642506953520002,0.9969125827833045],[-0.6377888042826376,1.0233674208273034]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_24","position":[0.20782051092457388,-1.0241254520309575,0.71338606911949],"aabb_xy":[[0.19437398429053054,-1.0375953036840486],[0.2212670375586172,-1.0106556003778664]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_25","position":[-0.34934722575797306,-0.4119103622716773,0.71338606911949],"aabb_xy":[[-0.37933888849184333,-0.4419103616084778],[-0.3193555630241027,-0.38191036293487673]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_26","position":[-0.3423674342293553,-1.4043640219518496,0.71338606911949],"aabb_xy":[[-0.4063674362790873,-1.4444585050411576],[-0.2783674321796233,-1.3642695388625417]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_27","position":[-0.6021177476741459,0.31154032574184454,0.71338606911949],"aabb_xy":[[-0.6521177493356406,0.26154188348614177],[-0.5521177460126511,0.3615387679975472]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_28","position":[0.19876919786452518,1.2222258828693677,0.71338606911949],"aabb_xy":[[0.14475360158262518,1.1582258799771104],[0.2527847941464252,1.2862258857616247]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_29","position":[0.5418929395026739,-1.3593885547873064,0.71338606911949],"aabb_xy":[[0.49207616003783916,-1.4093885532716095],[0.5917097189675087,-1.3093885563030028]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6806464192650115,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7312.png","name":"7312"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7312.png","name":"7312"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5427.png","name":"5427"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8193.png","name":"8193"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5158.png","name":"5158"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2197.png","name":"2197"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":551.8793208643845,"rotation_z_degrees":260.2902248186743,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015195401645808784,0.00366780554912172,0.0187041304149916]},{"name":"camera_2","offset_m":[0.011626155728474096,0.0007860672743070368,-0.012221095459102358]},{"name":"camera_3","offset_m":[-0.01839441926381811,0.007297307937867564,0.009513275285671651]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001280969673425739,0.0008112305926728167,-0.0019062833576904672],"end_effector_yaw_offset_degrees":0.1823013389926771},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00043589007328921625,-0.00040785556814873654,-0.0016025707234758478],"end_effector_yaw_offset_degrees":-0.10413452458956085},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016096428535316161,-0.000889633218728012,-0.0010799893924779433],"end_effector_yaw_offset_degrees":0.5106127178323645}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002561924845313936,0.0033969016840958008],"position_m":[0.35666192484531395,-0.0806030983159042,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0035502456382288574,-0.0018184324222630267],"position_m":[0.27104975436177114,-0.332118432422263,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0038641074633381112,-0.004358210074572475],"position_m":[0.15683589253666189,0.2098417899254275,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003358731924672254,0.002583107276719028],"position_m":[0.3407412680753278,0.11778310727671902,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"bf78deae73f6b2c4553d474122256ff354b0e6f4c47d3ce46f3d48f230513388","episode_index":40,"episode_name":"episode_0040"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0040.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_7312/tex_ceiling_textures_2197/tex_floor_textures_5158/tex_table_textures_5427/tex_wall_textures_8193","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":267432407866954767,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":267432407866954767,"visual_seed":267432407866954767,"scene_id":"lab_003","finished_at":"2026-09-04T01:48:47"} +{"episode_id":"ep_000041","started_at":"2026-09-04T01:48:49","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_0","position":[0.24292676772818755,-0.8157925114029636,0.71338606911949],"aabb_xy":[[0.22286835611494724,-0.8358575983121211],[0.26298517934142784,-0.7957274244938061]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_1","position":[-0.2467382435654084,-1.0244583051790122,0.71338606911949],"aabb_xy":[[-0.26384032152377657,-1.0415651107102817],[-0.22963616560704028,-1.0073514996477422]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_2","position":[0.24672311215883413,-0.586864222466601,0.71338606911949],"aabb_xy":[[0.18272311010910214,-0.6269587055559089],[0.31072311420856613,-0.546769739377293]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_3","position":[0.4963050479751976,-1.7704180979417263,0.71338606911949],"aabb_xy":[[0.4511337301270287,-1.8344180950862647],[0.5414763658233666,-1.706418100797188]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_4","position":[0.27392968796429484,1.7612239105225682,0.71338606911949],"aabb_xy":[[0.22392968931837365,1.7113043668631056],[0.32392968661021604,1.8111434541820304]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_5","position":[0.391498802981175,-2.141569953638861,0.71338606911949],"aabb_xy":[[0.32149880034458866,-2.161674818634726],[0.46149880561776135,-2.121465088642995]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_6","position":[-0.515748947577781,-1.1765550320596285,0.71338606911949],"aabb_xy":[[-0.5212068932148011,-1.2565550353672876],[-0.5102910019407609,-1.0965550287519694]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_7","position":[-0.2505293569218421,1.4851595319444155,0.71338606911949],"aabb_xy":[[-0.2855293582733238,1.4647997959875947],[-0.21552935557036038,1.5055192679012364]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_8","position":[-0.6233040306200355,-2.259290648852149,0.71338606911949],"aabb_xy":[[-0.6457688005914406,-2.2817906497310094],[-0.6008392606486304,-2.2367906479732884]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_9","position":[0.09708855384028814,-0.8808542125660122,0.71338606911949],"aabb_xy":[[0.0330885519279458,-0.9367653618240226],[0.16108855575263048,-0.8249430633080017]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_10","position":[-0.5518553900316743,-2.0933830315567086,0.71338606911949],"aabb_xy":[[-0.6368553887237489,-2.1253688949515874],[-0.46685539133959963,-2.0613971681618297]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_11","position":[0.05470693513097202,0.695890974662416,0.71338606911949],"aabb_xy":[[0.01970693686085212,0.6888168469674277],[0.08970693340109193,0.7029651023574041]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_12","position":[-0.15001450574737119,-2.0869004447119583,0.71338606911949],"aabb_xy":[[-0.23001450315096458,-2.1668930159101407],[-0.07001450834377775,-2.006907873513775]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_13","position":[-0.4171048917266316,0.7795825838442241,0.71338606911949],"aabb_xy":[[-0.46710489208719763,0.7296025966346209],[-0.3671048913660655,0.8295625710538268]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_14","position":[-0.49061640490439296,-1.8039954776619274,0.71338606911949],"aabb_xy":[[-0.5240565801004125,-1.8374391034928572],[-0.45717622970837335,-1.770551851830997]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_15","position":[-0.1184852499990049,-1.346437986434673,0.71338606911949],"aabb_xy":[[-0.13404101940927016,-1.3619884196790801],[-0.10292948058873964,-1.3308875531902657]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_16","position":[0.6643469984772388,-0.8390001507617493,0.71338606911949],"aabb_xy":[[0.6300500874594981,-0.8732970369716905],[0.6986439094949792,-0.8047032645518079]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_17","position":[-0.3749675726955919,0.2721803866403256,0.71338606911949],"aabb_xy":[[-0.42277374030936055,0.20718038393326665],[-0.3271614050818233,0.3371803893473846]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_18","position":[-0.03378133926436855,-1.3961834347228679,0.71338606911949],"aabb_xy":[[-0.048944212241305636,-1.4113488920179869],[-0.018618466287431464,-1.3810179774277493]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_19","position":[0.2675371073463664,0.5503523069316123,0.71338606911949],"aabb_xy":[[0.2075371064855536,0.49892587692512597],[0.3275371082071792,0.6017787369380987]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_20","position":[-0.21729867643830447,-1.1934751182631422,0.71338606911949],"aabb_xy":[[-0.22976603454804015,-1.2059404428964657],[-0.20483131832856885,-1.1810097936298187]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_21","position":[0.5637228284295235,1.8165787010239867,0.71338606911949],"aabb_xy":[[0.5576282005414053,1.808009306472318],[0.5698174563176419,1.8251480955756554]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_22","position":[-0.04108628067082021,-2.25725171682669,0.71338606911949],"aabb_xy":[[-0.0660862806033381,-2.2641343850476137],[-0.016086280738302323,-2.2503690486057666]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_23","position":[-0.2640149396445487,-0.75243121789153,0.71338606911949],"aabb_xy":[[-0.3139937481548645,-0.8024312178972488],[-0.21403613113423275,-0.7024312178858112]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_24","position":[-0.17883678353096077,0.35946253512271964,0.71338606911949],"aabb_xy":[[-0.26883678586497983,0.281980180537607],[-0.08883678119694172,0.4369448897078323]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_25","position":[-0.3077169501696234,-1.8982192364806176,0.71338606911949],"aabb_xy":[[-0.3577169514534634,-1.9481980908712395],[-0.25771694888578345,-1.8482403820899953]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_26","position":[-0.42345309726302044,-1.589037810452047,0.71338606911949],"aabb_xy":[[-0.44845309653498266,-1.6053831740482094],[-0.3984530979910581,-1.5726924468558847]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_27","position":[0.15353950638093772,-1.1716880935048477,0.71338606911949],"aabb_xy":[[0.10353950694074207,-1.2216560179891638],[0.2035395058211333,-1.1217201690205312]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_28","position":[-0.15061025503791414,-2.5066230939234098,0.71338606911949],"aabb_xy":[[-0.20058332057042966,-2.556623093735943],[-0.10063718950539871,-2.4566230941108773]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_29","position":[0.6032770839665902,0.32549292504047234,0.71338606911949],"aabb_xy":[[0.5960333179203448,0.24549292683686996],[0.6105208500128354,0.4054929232440747]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_30","position":[-0.3816340080926222,1.1039039366928014,0.71338606911949],"aabb_xy":[[-0.4616340052521974,1.0923563357349844],[-0.3016340109330468,1.1154515376506184]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_31","position":[0.5214653094428001,-2.480150224166243,0.71338606911949],"aabb_xy":[[0.4841340329175574,-2.5148032789610952],[0.5587965859680426,-2.4454971693713907]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.683450119592217,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6580.png","name":"6580"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6580.png","name":"6580"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5368.png","name":"5368"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8147.png","name":"8147"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9176.png","name":"9176"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1248.png","name":"1248"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":604.9859543921036,"rotation_z_degrees":205.14087858354833,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008615652075921375,0.017214128436097213,0.019116613170950817]},{"name":"camera_2","offset_m":[-0.005313382253010857,-0.002231743316508175,-0.008840077898818039]},{"name":"camera_3","offset_m":[-0.005686513770149268,-0.017049021483222276,-0.005026696377323274]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012357945481819939,-0.001397956829078034,0.0019359747352021162],"end_effector_yaw_offset_degrees":0.810683887834178},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016383237943632589,-0.0013023338278025302,0.0013643655922561792],"end_effector_yaw_offset_degrees":0.8102379167971507},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0001702874856014244,-0.0002570392448092483,0.0016006837196029249],"end_effector_yaw_offset_degrees":-0.5901373946736026}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0037779067537706606,0.004132185562387719],"position_m":[0.3578779067537707,-0.07986781443761229,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0014489353307206411,0.00141999014451678],"position_m":[0.27604893533072067,-0.3288800098554832,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0007655959404782864,-0.0007821558381395895],"position_m":[0.1614655959404783,0.2134178441618604,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0028874076103651515,-0.0012823240120939548],"position_m":[0.34121259238963486,0.11391767598790604,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8702aca7d09483081fce43b2ff696c6cf0c9ab0d5febf09f47e282c90c9abbd3","episode_index":41,"episode_name":"episode_0041"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0041.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6580/tex_ceiling_textures_1248/tex_floor_textures_9176/tex_table_textures_5368/tex_wall_textures_8147","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":8832412567374483045,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":8832412567374483045,"visual_seed":8832412567374483045,"scene_id":"lab_003","finished_at":"2026-09-04T01:51:30"} +{"episode_id":"ep_000042","started_at":"2026-09-04T01:51:33","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_0","position":[-0.42152983924896326,0.32826680832300736,0.71338606911949],"aabb_xy":[[-0.4855298384187332,0.28150012120404483],[-0.3575298400791933,0.3750334954419698]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_1","position":[0.14309563176429496,-1.2748955186604014,0.71338606911949],"aabb_xy":[[0.07309562837273297,-1.3102112923638323],[0.21309563515585692,-1.2395797449569705]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_2","position":[-0.14153719051391767,0.6962863753168942,0.71338606911949],"aabb_xy":[[-0.16537340815452273,0.6062863745084078],[-0.1177009728733126,0.7862863761253809]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_3","position":[0.1391652599720019,1.7598242068403844,0.71338606911949],"aabb_xy":[[0.11665156814854469,1.6898242062393767],[0.16167895179545907,1.8298242074413917]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_4","position":[0.39334562725569455,-2.267309785377391,0.71338606911949],"aabb_xy":[[0.3558456288322942,-2.280473999345222],[0.4308456256790949,-2.2541455714095604]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_5","position":[-0.13191206676834588,-0.7815605547360256,0.71338606911949],"aabb_xy":[[-0.18189087527866177,-0.8315605547417444],[-0.08193325825803,-0.7315605547303068]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_6","position":[-0.19940666823204073,1.5139985617990184,0.71338606911949],"aabb_xy":[[-0.26340666964003134,1.4622096102750934],[-0.13540666682405003,1.5657875133229429]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_7","position":[0.304243285977697,1.245912197972745,0.71338606911949],"aabb_xy":[[0.21455620966958155,1.1559121977182945],[0.39393036228581246,1.3359121982271955]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_8","position":[-0.12641782941130475,1.6343504764119259,0.71338606911949],"aabb_xy":[[-0.13835056377313282,1.6219683236040663],[-0.11448509504947668,1.646732629219785]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_9","position":[-0.25053627053249083,-1.3098435495390572,0.71338606911949],"aabb_xy":[[-0.2805038274423165,-1.339843549836943],[-0.22056871362266517,-1.2798435492411715]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_10","position":[-0.2664575169222518,-1.4513874096615857,0.71338606911949],"aabb_xy":[[-0.33145751507817084,-1.477683654211498],[-0.20145751876633272,-1.4250911651116736]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_11","position":[0.5377558014587374,-1.2785435609839968,0.71338606911949],"aabb_xy":[[0.48276355082322653,-1.3335435627273096],[0.5927480520942484,-1.223543559240684]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_12","position":[0.06367706858433364,1.1495163011878704,0.71338606911949],"aabb_xy":[[0.026177068767300082,1.1448780898767283],[0.1011770684013672,1.154154512499012]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_13","position":[-0.34313568327968746,-1.7813128124198256,0.71338606911949],"aabb_xy":[[-0.3932331472607611,-1.8453128129296374],[-0.29303821929861384,-1.7173128119100138]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_14","position":[0.48743703981718545,0.20736657243311152,0.71338606911949],"aabb_xy":[[0.4499370396453135,0.17466583705020436],[0.5249370399890574,0.24006730781601873]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_15","position":[-0.046413265704665085,-0.5334546384596908,0.71338606911949],"aabb_xy":[[-0.05765832127528292,-0.544696436183786],[-0.03516821013404725,-0.5222128407355955]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_16","position":[-0.5823992107015492,-1.9984906286557655,0.71338606911949],"aabb_xy":[[-0.5915590896454258,-2.0050218466993024],[-0.5732393317576726,-1.9919594106122285]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_17","position":[-0.19310872674197466,1.111213226034364,0.71338606911949],"aabb_xy":[[-0.2731087300059878,1.0976531937254506],[-0.11310872347796153,1.1247732583432772]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_18","position":[-0.24700399638632897,-1.6198713463427081,0.71338606911949],"aabb_xy":[[-0.31100399843606097,-1.659965829432016],[-0.18300399433659698,-1.5797768632534002]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_19","position":[0.5086861668909874,0.9528280794176389,0.71338606911949],"aabb_xy":[[0.4286861636331445,0.872831571625655],[0.5886861701488304,1.032824587209623]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_20","position":[-0.2336777244529747,-0.9582508342488456,0.71338606911949],"aabb_xy":[[-0.2686777244294706,-0.9677154502964622],[-0.19867772447647888,-0.948786218201229]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_21","position":[0.24808866035226074,-1.8350593119437908,0.71338606911949],"aabb_xy":[[0.20028249273849205,-1.9000593146508495],[0.2958948279660294,-1.7700593092367316]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_22","position":[-0.4858479979284986,-1.8188969792424654,0.71338606911949],"aabb_xy":[[-0.5027587303648404,-1.8323691848350798],[-0.4689372654921568,-1.8054247736498505]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_23","position":[0.15561778110739755,0.6167980305697931,0.71338606911949],"aabb_xy":[[0.1106177796411687,0.5717981737083125],[0.20061778257362642,0.6617978874312739]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_24","position":[-0.2845743982011006,-1.032037973589382,0.71338606911949],"aabb_xy":[[-0.30207439747918746,-1.049376073655728],[-0.2670743989230137,-1.0146998735230361]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6801337462494272,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/886.png","name":"886"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/886.png","name":"886"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/317.png","name":"317"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2171.png","name":"2171"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5930.png","name":"5930"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7463.png","name":"7463"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":711.8414057276436,"rotation_z_degrees":179.63229795134652,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012283526120586506,-0.006088988481076703,-0.0026629378075622157]},{"name":"camera_2","offset_m":[0.014932991225013823,-0.019100513005071623,-0.01502559266546815]},{"name":"camera_3","offset_m":[-0.018393740321258727,0.005788794749562131,0.013925419428282845]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014332587715879704,0.0006048034929021563,-0.0017237207536135305],"end_effector_yaw_offset_degrees":0.3312753446035481},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001315844860731026,-0.000224060195223796,-0.0016899128749008057],"end_effector_yaw_offset_degrees":-0.25723032876822716},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013262701543801402,0.00011204669207328342,-0.000601317586748916],"end_effector_yaw_offset_degrees":0.18259670935909256}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0007551480537331158,-0.0032312141985440124],"position_m":[0.35485514805373314,-0.08723121419854402,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001936573251298943,0.002145974447862427],"position_m":[0.2726634267487011,-0.3281540255521376,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0026835935452144237,0.004401681363704376],"position_m":[0.16338359354521442,0.21860168136370436,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0042159005386839905,-0.0007308886353756643],"position_m":[0.348315900538684,0.11446911136462433,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9ee41bc77dfa137a21c82422dee3c035abd7d2488fc745bbfacba067205f9b82","episode_index":42,"episode_name":"episode_0042"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0042.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_886/tex_ceiling_textures_7463/tex_floor_textures_5930/tex_table_textures_317/tex_wall_textures_2171","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":7654709306506879412,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":7654709306506879412,"visual_seed":7654709306506879412,"scene_id":"lab_003","finished_at":"2026-09-04T01:54:07"} +{"episode_id":"ep_000043","started_at":"2026-09-04T01:54:10","dimensions":{"distractor":{"count":30,"items":[{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_0","position":[0.44377048403229646,-1.9319790853610228,0.71338606911949],"aabb_xy":[[0.3637704868727211,-1.9435266863188398],[0.5237704811918718,-1.9204314844032058]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_1","position":[-0.5026498834774986,1.1084705053210455,0.71338606911949],"aabb_xy":[[-0.5201965783936174,1.0709705037567943],[-0.4851031885613796,1.1459705068852968]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_2","position":[-0.09412004497740245,1.1089910024682244,0.71338606911949],"aabb_xy":[[-0.15812004227974885,1.0646245755003676],[-0.030120047675056036,1.153357429436081]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_3","position":[0.5495683696088156,1.2243272485544572,0.71338606911949],"aabb_xy":[[0.4695683709519296,1.2098223896301943],[0.6295683682657016,1.23883210747872]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_4","position":[-0.3185171106938104,-0.16542015900145524,0.71338606911949],"aabb_xy":[[-0.38351711169431085,-0.21620652415613018],[-0.2535171096933098,-0.1146337938467803]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_5","position":[-0.4785790289686475,-0.3394918368903741,0.71338606911949],"aabb_xy":[[-0.5685790275631176,-0.3557424232037951],[-0.3885790303741777,-0.3232412505769531]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_6","position":[0.38010529532247195,-2.4537037538978126,0.71338606911949],"aabb_xy":[[0.342605295216879,-2.4605259157507935],[0.4176052954280649,-2.446881592044831]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_7","position":[-0.3802273281207996,0.850377838732769,0.71338606911949],"aabb_xy":[[-0.46022732513504755,0.8302432870593578],[-0.3002273311065516,0.8705123904061803]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_8","position":[0.5289272150826287,-0.15110434677529883,0.71338606911949],"aabb_xy":[[0.5122500790895332,-0.1678042707492291],[0.5456043510757242,-0.13440442280136855]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_9","position":[-0.34132447155398843,0.4019454220683154,0.71338606911949],"aabb_xy":[[-0.3891306391677571,0.33694541936125644],[-0.2935183039402198,0.4669454247753743]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_10","position":[0.37513773491139024,-1.0630077343850526,0.71338606911949],"aabb_xy":[[0.28513773549301935,-1.096383231229242],[0.46513773432976113,-1.0296322375408626]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_11","position":[-0.05025242604968416,1.3393122281925178,0.71338606911949],"aabb_xy":[[-0.13397465154976662,1.2493122246578219],[0.033469799450398297,1.4293122317272138]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_12","position":[-0.20694117941267798,-0.6968889157521054,0.71338606911949],"aabb_xy":[[-0.2194085375224136,-0.7093542403854289],[-0.1944738213029423,-0.6844235911187819]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_13","position":[-0.007237496742468208,-1.108468551984675,0.71338606911949],"aabb_xy":[[-0.015365184935781429,-1.1173821603953829],[0.0008901914508450126,-1.0995549435739673]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_14","position":[-0.04448061620231081,-1.4742906360530872,0.71338606911949],"aabb_xy":[[-0.06948061547427309,-1.4906359996492493],[-0.01948061693034853,-1.4579452724569246]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_15","position":[-0.6077235879885746,-2.0168520149380247,0.71338606911949],"aabb_xy":[[-0.6427235862992702,-2.0245670298615703],[-0.5727235896778793,-2.009137000014479]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_16","position":[0.2703848623834578,-1.7120453123792023,0.71338606911949],"aabb_xy":[[0.24788844094959378,-1.7345453121859498],[0.292881283817322,-1.6895453125724549]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_17","position":[-0.030577810740307854,0.6466199770326848,0.71338606911949],"aabb_xy":[[-0.05275033771695868,0.6244443098765615],[-0.008405283763657014,0.6687956441888079]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_18","position":[0.05983458962610211,-2.173674738355154,0.71338606911949],"aabb_xy":[[0.04668334365481274,-2.198674738111841],[0.07298583559739147,-2.148674738598468]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_19","position":[0.034368994165802746,1.1942465746174178,0.71338606911949],"aabb_xy":[[0.026332659464517905,1.186208455313001],[0.04240532886708759,1.2022846939218346]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_20","position":[-0.42499535175408193,1.2517050707527888,0.71338606911949],"aabb_xy":[[-0.4336933140447972,1.2395800964453143],[-0.41629738946336664,1.2638300450602638]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_21","position":[-0.15673458509762994,-1.6778075602801685,0.71338606911949],"aabb_xy":[[-0.16649057460680383,-1.6875700943394027],[-0.14697859558845605,-1.6680450262209339]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_22","position":[-0.007512292572969814,-1.8453803885001165,0.71338606911949],"aabb_xy":[[-0.04501229292119757,-1.8571717840811999],[0.029987707775257944,-1.8335889929190328]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_23","position":[0.617115785251398,1.394910864599439,0.71338606911949],"aabb_xy":[[0.6091217966736945,1.3869107845043487],[0.6251097738291013,1.4029109446945294]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_24","position":[0.6406986542826012,1.7070798858415146,0.71338606911949],"aabb_xy":[[0.5706986526803216,1.693647092639857],[0.7106986558848806,1.7205126790431722]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_25","position":[-0.3024930529709223,-1.9499259236904782,0.71338606911949],"aabb_xy":[[-0.3362686121616153,-1.9639644189036434],[-0.26871749378022936,-1.9358874284773135]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_26","position":[-0.12596444555852837,0.7391217108438619,0.71338606911949],"aabb_xy":[[-0.20596444602874434,0.7308110032295136],[-0.04596444508831241,0.7474324184582104]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_27","position":[-0.3678294430691385,-2.2129402620577965,0.71338606911949],"aabb_xy":[[-0.41771213994683476,-2.2629402613040717],[-0.3179467461914423,-2.162940262811522]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_28","position":[-0.5567620412041494,0.9593234955388996,0.71338606911949],"aabb_xy":[[-0.5902022164001689,0.9258798697079694],[-0.5233218660081297,0.9927671213698296]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_29","position":[0.22749082135455145,0.5971736177704692,0.71338606911949],"aabb_xy":[[0.17801040014059266,0.5331736198576175],[0.27697124256851025,0.6611736156833211]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6831974389627855,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2083.png","name":"2083"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2083.png","name":"2083"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/873.png","name":"873"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8048.png","name":"8048"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2606.png","name":"2606"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3856.png","name":"3856"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":634.0833779412671,"rotation_z_degrees":105.88208347318529,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005070884062284802,0.0019054240666598818,-0.006611778500070305]},{"name":"camera_2","offset_m":[-0.008344970797765128,0.01550279699610287,0.015846031581223944]},{"name":"camera_3","offset_m":[-0.016453270940348427,-0.012100876958875682,0.012029851481136711]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0016400850554376535,-0.0007599315405776262,-0.001979551138176307],"end_effector_yaw_offset_degrees":-0.23760022935344938},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0001278771495502888,-0.0001776075268205739,0.001322696898310592],"end_effector_yaw_offset_degrees":0.3397640773295767},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00042300413474877533,-0.0002211486543477613,-0.0006191371728466164],"end_effector_yaw_offset_degrees":-0.10291625961044049}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0031711718799435655,0.0009216276150832156],"position_m":[0.3572711718799436,-0.08307837238491679,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00043799758239463065,-0.0014741752348854708],"position_m":[0.27416200241760535,-0.33177417523488545,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004723026632563815,0.0037283601656806454],"position_m":[0.16542302663256384,0.21792836016568065,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004966981245533353,0.0009393643965913646],"position_m":[0.33913301875446666,0.11613936439659137,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f9522ca14945aebc94c4993f56ef646e3500625733f004bd9d24637814c8253e","episode_index":43,"episode_name":"episode_0043"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0043.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_2083/tex_ceiling_textures_3856/tex_floor_textures_2606/tex_table_textures_873/tex_wall_textures_8048","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":6472708910638479618,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":6472708910638479618,"visual_seed":6472708910638479618,"scene_id":"lab_003","finished_at":"2026-09-04T01:56:54"} +{"episode_id":"ep_000044","started_at":"2026-09-04T01:56:57","dimensions":{"distractor":{"count":34,"items":[{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_0","position":[0.574237092881154,1.1733215221111486,0.71338606911949],"aabb_xy":[[0.5517370926376386,1.1611168874513766],[0.5967370931246694,1.1855261567709205]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_1","position":[0.35524420859509465,1.354132301817645,0.71338606911949],"aabb_xy":[[0.3511282584830219,1.3500167467847992],[0.35936015870716725,1.3582478568504903]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_2","position":[-0.14786245753867244,-2.3955226062947115,0.71338606911949],"aabb_xy":[[-0.22786245861179277,-2.405300652632096],[-0.06786245646555211,-2.385744559957327]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_3","position":[-0.014064184600871998,-2.1567597162700105,0.71338606911949],"aabb_xy":[[-0.025425919254158155,-2.1681281826762984],[-0.0027024499475858353,-2.1453912498637226]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_4","position":[-0.14134518848299304,0.5285291886261301,0.71338606911949],"aabb_xy":[[-0.1963451881047389,0.47354549583865735],[-0.0863451888612472,0.5835128814136028]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_5","position":[-0.5473058925674154,0.1024394289459174,0.71338606911949],"aabb_xy":[[-0.5650993995023318,0.08463968335011975],[-0.5295123856324989,0.12023917454171508]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_6","position":[-0.021497807860684448,1.2617825003934868,0.71338606911949],"aabb_xy":[[-0.05799362848796319,1.2252985579667293],[0.014998012766594297,1.2982664428202444]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_7","position":[0.43899865692659,-0.8723119057281534,0.71338606911949],"aabb_xy":[[0.4014986565783623,-0.8841033013092369],[0.4764986572748178,-0.8605205101470698]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_8","position":[-0.14833132171865226,-0.1131177803273582,0.71338606911949],"aabb_xy":[[-0.15474513536183718,-0.11952760057502654],[-0.1419175080754673,-0.10670796007968986]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_9","position":[-0.6266198327716956,-1.4750203380824045,0.71338606911949],"aabb_xy":[[-0.6363758222808694,-1.4847828721416387],[-0.6168638432625216,-1.4652578040231699]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_10","position":[0.05163211489560782,1.3618161552588397,0.71338606911949],"aabb_xy":[[0.0291673449242027,1.3393161543799792],[0.07409688486701294,1.3843161561377002]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_11","position":[0.6833511445002571,1.7326916006440443,0.71338606911949],"aabb_xy":[[0.6780186298456441,1.7273672723988085],[0.6886836591548702,1.7380159288892796]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_12","position":[-0.5546088783859464,-2.496467793701254,0.71338606911949],"aabb_xy":[[-0.6396088768033696,-2.581342089163539],[-0.4696088799685232,-2.411593498238969]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_13","position":[0.22479930522825375,-1.1709228151449487,0.71338606911949],"aabb_xy":[[0.20151746303012238,-1.2559228164421767],[0.24808114742638507,-1.0859228138477206]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_14","position":[0.41474195061562513,0.7948280619439627,0.71338606911949],"aabb_xy":[[0.39963964915460687,0.7797265403129007],[0.42984425207664306,0.8099295835750243]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_15","position":[-0.13845302783795377,-0.7252825431123409,0.71338606911949],"aabb_xy":[[-0.20845303122951572,-0.7605983168157717],[-0.06845302444639177,-0.68996676940891]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_16","position":[0.4372743897499447,0.22117038461848315,0.71338606911949],"aabb_xy":[[0.42957119907586766,0.2134610139197451],[0.44497758042402175,0.2288797553172211]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_17","position":[0.4703416830214857,1.402409285137562,0.71338606911949],"aabb_xy":[[0.4203416813599909,1.352410842881859],[0.5203416846829804,1.4524077273932645]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_18","position":[0.17551643757582336,-0.7507881391164002,0.71338606911949],"aabb_xy":[[0.1260360163618646,-0.814788137029252],[0.22499685878978218,-0.6867881412035484]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_19","position":[0.1381307238368552,0.9459230397199048,0.71338606911949],"aabb_xy":[[0.08813761172766331,0.8959230390457094],[0.18812383594604712,0.9959230403941006]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_20","position":[0.4765053894893798,-1.5537719372619665,0.71338606911949],"aabb_xy":[[0.42652658097906393,-1.6037719372676855],[0.5264841979996957,-1.503771937256248]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_21","position":[0.08006411174786643,-1.8027912018763803,0.71338606911949],"aabb_xy":[[0.05622789410726138,-1.892791202684867],[0.10390032938847152,-1.712791201067894]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_22","position":[-0.017497572964882746,0.9069927433473048,0.71338606911949],"aabb_xy":[[-0.02475882053529016,0.8942057330837953],[-0.010236325394475332,0.9197797536108142]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_23","position":[-0.44932560285101214,-1.0986528879227822,0.71338606911949],"aabb_xy":[[-0.5143256028853149,-1.1453535646031094],[-0.3843256028167094,-1.0519522112424549]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_24","position":[0.27632739327705813,-2.4703018089174047,0.71338606911949],"aabb_xy":[[0.25382739276501753,-2.492793667282803],[0.2988273937890987,-2.4478099505520063]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_25","position":[-0.22956488224575194,1.6722127887743743,0.71338606911949],"aabb_xy":[[-0.23587698178209038,1.6664458495211552],[-0.2232527827094135,1.677979728027593]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_26","position":[-0.09019047889773424,-1.9544147175289224,0.71338606911949],"aabb_xy":[[-0.12769047906960615,-1.9871154529118293],[-0.05269047872586227,-1.921713982146015]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_27","position":[0.15004646020895807,-1.392257590168486,0.71338606911949],"aabb_xy":[[0.13254645996390865,-1.4097573780080523],[0.16754646045400742,-1.3747578023289186]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_28","position":[-0.6120656031853986,-0.2520808601589124,0.71338606911949],"aabb_xy":[[-0.6770656042913419,-0.2770462332270407],[-0.5470656020794553,-0.2271154870907841]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_29","position":[-0.6195571684665981,-2.1900585287485077,0.71338606911949],"aabb_xy":[[-0.6565912778946578,-2.224435736082217],[-0.5825230590385383,-2.1556813214147983]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_30","position":[0.574530795455342,-2.0808383433541473,0.71338606911949],"aabb_xy":[[0.5105307961611738,-2.1448244837230015],[0.6385307947495102,-2.016852202985293]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_31","position":[-0.19127134504147836,1.1894001945929458,0.71338606911949],"aabb_xy":[[-0.2412713463253183,1.1394213402023237],[-0.14127134375763836,1.2393790489835679]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_32","position":[0.6471580899388956,-0.6324939162200445,0.71338606911949],"aabb_xy":[[0.63630648369002,-0.6433532069476955],[0.6580096961877712,-0.6216346254923935]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_33","position":[-0.6433005027170663,0.3264974949425703,0.71338606911949],"aabb_xy":[[-0.6603106000071168,0.3103630064442963],[-0.6262904054270155,0.34263198344084417]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6866825485102895,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5011.png","name":"5011"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5011.png","name":"5011"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2045.png","name":"2045"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9621.png","name":"9621"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1801.png","name":"1801"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/12.png","name":"12"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":620.0736786013576,"rotation_z_degrees":284.9244659752687,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011477377470454003,0.01987771624700722,-0.007806835042355735]},{"name":"camera_2","offset_m":[0.005581843293824482,0.002205302593085743,0.014439039702561784]},{"name":"camera_3","offset_m":[0.011281601457017353,-0.0037289741791737933,-0.007502727744177493]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006039762662243884,0.0010960452697466303,0.000283145098399982],"end_effector_yaw_offset_degrees":-0.3753826436920391},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001907718130792658,0.0003690867619840208,-0.0011740059791346287],"end_effector_yaw_offset_degrees":-0.9671057354838375},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016625567243811127,0.0007079119208871498,0.0018869628704764304],"end_effector_yaw_offset_degrees":-0.9823258049609866}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004980321534210367,0.004869603306050708],"position_m":[0.3590803215342104,-0.07913039669394929,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001644755022056953,-0.004895679996126491],"position_m":[0.276244755022057,-0.3351956799961265,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00017365350324579504,0.00371375902639325],"position_m":[0.1608736535032458,0.21791375902639326,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0039654078009052005,-0.000672202539297154],"position_m":[0.3401345921990948,0.11452779746070284,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b5f4fcddce7838bb92030e9aaeee5af0f8b250f63d965105d7f3e54434222f77","episode_index":44,"episode_name":"episode_0044"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0044.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_5011/tex_ceiling_textures_12/tex_floor_textures_1801/tex_table_textures_2045/tex_wall_textures_9621","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":7583945808997653832,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":7583945808997653832,"visual_seed":7583945808997653832,"scene_id":"lab_003","finished_at":"2026-09-04T01:59:37"} +{"episode_id":"ep_000045","started_at":"2026-09-04T01:59:41","dimensions":{"distractor":{"count":29,"items":[{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_0","position":[0.5458060477803186,-0.6123747620583742,0.71338606911949],"aabb_xy":[[0.5233060479664162,-0.6168493784288549],[0.568306047594221,-0.6079001456878934]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_1","position":[-0.4165039448018419,-1.2738802437279926,0.71338606911949],"aabb_xy":[[-0.439000366235706,-1.29638024353474],[-0.3940075233679778,-1.2513802439212451]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_2","position":[-0.5902413093501004,-0.619802368714395,0.71338606911949],"aabb_xy":[[-0.6542413112624429,-0.6757135179724054],[-0.5262413074377582,-0.5638912194563845]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_3","position":[0.041584153501042165,1.1308487651165153,0.71338606911949],"aabb_xy":[[-0.02241584884175939,1.0859079138723828],[0.10558415584384373,1.1757896163606478]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_4","position":[0.07140362009021306,-1.1632841730884276,0.71338606911949],"aabb_xy":[[-0.008596381339914139,-1.242801328101037],[0.15140362152034026,-1.083767018075818]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_5","position":[-0.6542419667283228,-1.290008714323463,0.71338606911949],"aabb_xy":[[-0.6892419659211408,-1.3009757603211254],[-0.6192419675355043,-1.2790416683258]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_6","position":[0.5405824320023624,1.7063295218644563,0.71338606911949],"aabb_xy":[[0.5312888137652119,1.6688295233763222],[0.549876050239513,1.74382952035259]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_7","position":[-0.5732450337973426,0.5749913046972979,0.71338606911949],"aabb_xy":[[-0.6632450323918127,0.5587407183838768],[-0.48324503520287276,0.5912418910107189]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_8","position":[-0.5505770108616295,-1.1684118902150877,0.71338606911949],"aabb_xy":[[-0.5618220664322473,-1.179653687939183],[-0.5393319552910116,-1.1571700924909925]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_9","position":[0.6671115798477765,-0.0774584958609359,0.71338606911949],"aabb_xy":[[0.6306157592204976,-0.11394243828769346],[0.7036074004750551,-0.04097455343417833]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_10","position":[0.4663605433491156,-1.4132525754354377,0.71338606911949],"aabb_xy":[[0.4013605423486151,-1.4640389405901124],[0.5313605443496161,-1.3624662102807625]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_11","position":[-0.4253355042026409,1.6111942435593938,0.71338606911949],"aabb_xy":[[-0.5153355065366599,1.5337118889742811],[-0.3353355018686218,1.6886765981445064]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_12","position":[0.21417924104551922,-1.0928369330797432,0.71338606911949],"aabb_xy":[[0.20776542740233428,-1.0992467533274113],[0.22059305468870416,-1.0864271128320746]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_13","position":[-0.14621936349444953,-1.0403741889092664,0.71338606911949],"aabb_xy":[[-0.21021936079679593,-1.084740615877123],[-0.08221936619210313,-0.9960077619414094]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_14","position":[0.1575508243945083,1.3193258066800255,0.71338606911949],"aabb_xy":[[0.14321639926834484,1.3072655911254867],[0.17188524952067175,1.3313860222345644]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_15","position":[-0.1652807583716156,0.66034113160618,0.71338606911949],"aabb_xy":[[-0.1712472973123514,0.654379986946816],[-0.1593142194308798,0.6663022762655441]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_16","position":[0.28037483291621723,1.1189576329280433,0.71338606911949],"aabb_xy":[[0.2558286172934665,1.088708736379006],[0.30492104853896795,1.1492065294770801]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_17","position":[-0.12038454133615561,0.9166041063831414,0.71338606911949],"aabb_xy":[[-0.1803845419321718,0.8617916338379179],[-0.06038454074013945,0.9714165789283649]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_18","position":[-0.2344601069039196,-2.1807535574063115,0.71338606911949],"aabb_xy":[[-0.28444434261209683,-2.230753556219807],[-0.18447587119574238,-2.130753558592816]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_19","position":[-0.427645520278281,-0.9423761054790873,0.71338606911949],"aabb_xy":[[-0.517645520001455,-0.965449458014267],[-0.33764552055510677,-0.9193027529439073]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_20","position":[0.42797952989417776,-2.2289822436419056,0.71338606911949],"aabb_xy":[[0.3479795329311386,-2.306057885285679],[0.5079795268572169,-2.151906601998132]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_21","position":[-0.3009344237492432,-0.14467027874657212,0.71338606911949],"aabb_xy":[[-0.3659344263870366,-0.19614987744601908],[-0.23593442111144963,-0.09319068004712516]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_22","position":[0.4663365428539952,1.1340309406476248,0.71338606911949],"aabb_xy":[[0.41232094657209517,1.0700309377553676],[0.5203521391358952,1.198030943539882]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_23","position":[-0.13261911570072005,1.4065824767426944,0.71338606911949],"aabb_xy":[[-0.1736370590870909,1.356582476111737],[-0.09160117231434914,1.4565824773736518]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_24","position":[0.5921884469544734,-1.7331112618836633,0.71338606911949],"aabb_xy":[[0.5281884477847033,-1.779877949002626],[0.6561884461242432,-1.686344574764701]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_25","position":[0.08013948080971056,0.7510360277552488,0.71338606911949],"aabb_xy":[[0.07192493569402657,0.7423594374576072],[0.08835402592539453,0.7597126180528899]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_26","position":[-0.6041814462304139,-0.03313448853913048,0.71338606911949],"aabb_xy":[[-0.632026483011021,-0.06391898727744216],[-0.5763364094498068,-0.002349989800818804]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_27","position":[0.1409393331414065,-2.419752809912788,0.71338606911949],"aabb_xy":[[0.13560175747540193,-2.4447528108419276],[0.14627690880741107,-2.394752808983648]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_28","position":[-0.5696073613974848,1.1664683023184734,0.71338606911949],"aabb_xy":[[-0.57765072132344,1.081468301223107],[-0.5615640014715296,1.2514683034138399]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6803741718294403,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3046.png","name":"3046"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3046.png","name":"3046"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7807.png","name":"7807"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6577.png","name":"6577"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8819.png","name":"8819"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1434.png","name":"1434"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":622.9230934439645,"rotation_z_degrees":265.63275123112453,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01954666984238671,-0.011380009055439113,0.010451364559779606]},{"name":"camera_2","offset_m":[-0.01371291589282526,0.017409800029629375,0.011805074235132874]},{"name":"camera_3","offset_m":[-0.014663144074270523,0.0034343814474146576,0.012827434137587006]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00028890708338466,0.00037058484225314286,-0.0009062727190829692],"end_effector_yaw_offset_degrees":-0.7303243549104304},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016514137437399815,-0.00012521592130493525,0.00012816007100454252],"end_effector_yaw_offset_degrees":-0.5414712725463748},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014829729558766976,0.000721924760177886,0.0010919480155463976],"end_effector_yaw_offset_degrees":0.6537357158287935}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003592306148122432,0.004521592788540988],"position_m":[0.3576923061481225,-0.07947840721145902,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0015991999200687767,0.0022602341934288154],"position_m":[0.2730008000799312,-0.3280397658065712,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0032319225641204525,-0.002376142988334069],"position_m":[0.16393192256412045,0.21182385701166592,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0038158578792529176,-0.0017737632555358098],"position_m":[0.3402841421207471,0.11342623674446418,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8a87be688be59cf4f9da7b8f1de8c21bfb3419efa005a931b79bf27d593e3aa8","episode_index":45,"episode_name":"episode_0045"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0045.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_3046/tex_ceiling_textures_1434/tex_floor_textures_8819/tex_table_textures_7807/tex_wall_textures_6577","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":806261032991186590,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":806261032991186590,"visual_seed":806261032991186590,"scene_id":"lab_003","finished_at":"2026-09-04T02:02:23"} +{"episode_id":"ep_000046","started_at":"2026-09-04T02:02:26","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_0","position":[-0.486567839090772,-0.6738283621870453,0.71338606911949],"aabb_xy":[[-0.5415678372925168,-0.7143503288134828],[-0.43156784088902717,-0.6333063955606076]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_1","position":[0.5622713523814642,0.8673201080055022,0.71338606911949],"aabb_xy":[[0.48227135541842503,0.7902444663617286],[0.6422713493445034,0.9443957496492755]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_2","position":[-0.6409228214660679,1.7126272304961003,0.71338606911949],"aabb_xy":[[-0.6759228205960235,1.7068820094204362],[-0.6059228223361122,1.7183724515717644]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_3","position":[0.10608367126069462,1.2076760493689505,0.71338606911949],"aabb_xy":[[0.08358724982683051,1.1851760495622028],[0.12858009269455872,1.2301760491756977]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_4","position":[0.15645372871185925,1.6149042450647983,0.71338606911949],"aabb_xy":[[0.10645889578391768,1.5649042461695546],[0.20644856163980088,1.6649042439600417]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_5","position":[-0.6139289131030127,0.5890664435938051,0.71338606911949],"aabb_xy":[[-0.6232225313401633,0.5515664451056712],[-0.6046352948658621,0.626566442081939]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_6","position":[-0.14452913252215793,0.9977733818760606,0.71338606911949],"aabb_xy":[[-0.16143986495849968,0.9843011762834462],[-0.12761840008581612,1.0112455874686752]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_7","position":[0.4587964244089069,-2.090224092838555,0.71338606911949],"aabb_xy":[[0.4087971492404707,-2.1402240941145023],[0.508795699577343,-2.040224091562608]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_8","position":[0.5090423918980753,0.22336810778025207,0.71338606911949],"aabb_xy":[[0.4807126819495352,0.21890736558653506],[0.5373721018466157,0.22782884997396918]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_9","position":[0.5131695721658491,-0.3607359683593687,0.71338606911949],"aabb_xy":[[0.4906558803423918,-0.43073596896037625],[0.5356832639893062,-0.2907359677583612]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_10","position":[-0.40018810049989567,-2.2871733544867423,0.71338606911949],"aabb_xy":[[-0.41907248426840593,-2.3060592792670955],[-0.3813037167313855,-2.26828742970639]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_11","position":[0.6656094995194877,0.47712214116726903,0.71338606911949],"aabb_xy":[[0.6306095012087923,0.4694071262437234],[0.7006094978301832,0.4848371560908147]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_12","position":[-0.09574159584666397,0.6524603144142009,0.71338606911949],"aabb_xy":[[-0.10378495577261913,0.5674603133188345],[-0.08769823592070879,0.7374603155095674]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_13","position":[0.17322868679030412,-1.0022537369194406,0.71338606911949],"aabb_xy":[[0.1607613286805685,-1.0147190615527641],[0.1856960449000398,-0.9897884122861171]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_14","position":[-0.11320645064972534,-0.38823982802157486,0.71338606911949],"aabb_xy":[[-0.15070645082159728,-0.42094056340448205],[-0.0757064504778534,-0.3555390926386677]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_15","position":[0.36543845778497874,-1.0005409968257626,0.71338606911949],"aabb_xy":[[0.3038476985609859,-1.0645409949348095],[0.42702921700897156,-0.9365409987167157]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_16","position":[-0.4342080649508431,-2.4459505409366873,0.71338606911949],"aabb_xy":[[-0.45942890181068274,-2.471174291789574],[-0.4089872280910034,-2.4207267900838]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_17","position":[-0.5066263203088948,0.36821398117397086,0.71338606911949],"aabb_xy":[[-0.5706263167044678,0.3042506927552373],[-0.4426263239133217,0.4321772695927044]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_18","position":[0.09380075490121953,-1.1273223432020263,0.71338606911949],"aabb_xy":[[0.06996453726061448,-1.2173223440105128],[0.11763697254182462,-1.0373223423935398]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_19","position":[0.45388793157182583,0.4616104252922022,0.71338606911949],"aabb_xy":[[0.43645721649281916,0.4443383106283513],[0.4713186466508322,0.4788825399560529]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_20","position":[0.18387359949357462,-1.562157710545644,0.71338606911949],"aabb_xy":[[0.14824444359361488,-1.5977903773024968],[0.21950275539353437,-1.526525043788791]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_21","position":[0.4199030551731573,0.5576010023362188,0.71338606911949],"aabb_xy":[[0.40906257694664233,0.54041472104557],[0.43074353339967214,0.5747872836268676]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_22","position":[0.5973068246126048,1.4775334549901848,0.71338606911949],"aabb_xy":[[0.5474241277349086,1.4275334557439103],[0.647189521490301,1.52753345423646]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.683512593109561,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4432.png","name":"4432"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4432.png","name":"4432"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1627.png","name":"1627"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5188.png","name":"5188"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/448.png","name":"448"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3659.png","name":"3659"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":502.2522122661304,"rotation_z_degrees":19.7171690188856,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01597154528490557,0.0032432496392124886,0.0027468757683467293]},{"name":"camera_2","offset_m":[-0.015730437821314364,0.0002844271432798223,0.0026367771601071323]},{"name":"camera_3","offset_m":[-0.01970401053773902,0.018177337070419113,-0.019739240345168912]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001159205222266178,-3.0485262932041825e-06,0.0017666413585806211],"end_effector_yaw_offset_degrees":0.9262069986252806},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008190787748701377,-0.0010790738570592034,0.00036165903526633745],"end_effector_yaw_offset_degrees":-0.8093161502702593},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0019553975629186702,-0.0011515797508475857,0.00010305364195552875],"end_effector_yaw_offset_degrees":-0.46123877645820244}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0022005512415504266,0.004799375289861202],"position_m":[0.35630055124155047,-0.0792006247101388,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0021043192744549253,0.0024864121405516653],"position_m":[0.27670431927445494,-0.3278135878594483,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002566876596408965,-0.002124987032251423],"position_m":[0.16326687659640898,0.21207501296774858,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002441141899748337,-0.0004590012536646584],"position_m":[0.3416588581002517,0.11474099874633534,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"517334619d49f139572259785a22dd6f61328480c43e1a4cec1801c23f6ab114","episode_index":46,"episode_name":"episode_0046"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0046.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_4432/tex_ceiling_textures_3659/tex_floor_textures_448/tex_table_textures_1627/tex_wall_textures_5188","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":569168606067631684,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":569168606067631684,"visual_seed":569168606067631684,"scene_id":"lab_003","finished_at":"2026-09-04T02:05:21"} +{"episode_id":"ep_000047","started_at":"2026-09-04T02:05:24","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_0","position":[0.21218113074504963,-1.771936338983501,0.71338606911949],"aabb_xy":[[0.19450550015645127,-1.7896165552629035],[0.22985676133364794,-1.754256122704098]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_1","position":[-0.6352717369452971,1.5267642670753951,0.71338606911949],"aabb_xy":[[-0.6697340843434387,1.492270384677572],[-0.6008093895471551,1.5612581494732174]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_2","position":[0.5155555164182568,0.07337834342995908,0.71338606911949],"aabb_xy":[[0.45155551615778605,0.02836954407703107],[0.5795555166787276,0.11838714278288708]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_3","position":[0.674976508848691,0.0870584532742118,0.71338606911949],"aabb_xy":[[0.6390630044237012,0.05114494505745717],[0.7108900132736805,0.12297196149096641]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_4","position":[0.6356871323194182,0.2926363490388839,0.71338606911949],"aabb_xy":[[0.5981871320272433,0.28859487363828024],[0.6731871326115929,0.2966778244394875]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_5","position":[-0.5474144887405104,1.0164975081971788,0.71338606911949],"aabb_xy":[[-0.6074144893365265,0.9616850356519553],[-0.4874144881444942,1.0713099807424022]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_6","position":[0.49043477926385437,-0.35814508828005787,0.71338606911949],"aabb_xy":[[0.4840209656206694,-0.36455490852772615],[0.49684859290703925,-0.35173526803238947]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_7","position":[0.5177997790668862,-0.681653544167961,0.71338606911949],"aabb_xy":[[0.49451793686875484,-0.7666535454651889],[0.5410816212650175,-0.5966535428707328]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_8","position":[0.0703211875350459,1.051607457264823,0.71338606911949],"aabb_xy":[[0.04510035067520623,1.026383706411936],[0.09554202439488556,1.0768312081177096]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_9","position":[-0.5007359221183326,-2.1805035276326983,0.71338606911949],"aabb_xy":[[-0.5647359185139057,-2.244466816051432],[-0.43673592572275954,-2.1165402392139647]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_10","position":[-0.2508946490660882,-1.6472223157660952,0.71338606911949],"aabb_xy":[[-0.2683946483441751,-1.6645604158324412],[-0.23339464978800134,-1.6298842156997493]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_11","position":[-0.39040442673681913,-0.5496203186964919,0.71338606911949],"aabb_xy":[[-0.48040442533128913,-0.5658709050099129],[-0.30040442814234924,-0.5333697323830708]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_12","position":[-0.2093408517142969,-2.2764677944224,0.71338606911949],"aabb_xy":[[-0.24434085169079275,-2.285932410470017],[-0.1743408517378011,-2.2670031783747833]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_13","position":[0.5609480318176048,0.7353251853627532,0.71338606911949],"aabb_xy":[[0.49694803252343656,0.671339044993899],[0.624948031111773,0.7993113257316073]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_14","position":[0.055744349250599345,-1.3854870417666252,0.71338606911949],"aabb_xy":[[0.0338356671112483,-1.407387708586716],[0.07765303138995039,-1.3635863749465345]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_15","position":[0.11327362310508893,-1.6904997756119307,0.71338606911949],"aabb_xy":[[0.07577362158945722,-1.701726548628076],[0.15077362462072064,-1.6792730025957858]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_16","position":[0.32815376811958075,0.6836081532245721,0.71338606911949],"aabb_xy":[[0.2741381718376807,0.6196081503323149],[0.3821693644014807,0.7476081561168292]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_17","position":[-0.139377761595876,0.6860897417161111,0.71338606911949],"aabb_xy":[[-0.2193777630260032,0.6065725867035017],[-0.059377760165748805,0.7656068967287206]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_18","position":[0.32005394321776737,1.6941630992195935,0.71338606911949],"aabb_xy":[[0.2560539459321188,1.6526563802667498],[0.38405394050341607,1.7356698181724377]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_19","position":[0.2828864168490115,-2.212433677784916,0.71338606911949],"aabb_xy":[[0.2329089999837579,-2.262433679274164],[0.33286383371426503,-2.162433676295667]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_20","position":[0.3622135640635391,0.4783639584489703,0.71338606911949],"aabb_xy":[[0.33592473974309844,0.45209252479431905],[0.38850238838397977,0.5046353921036215]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_21","position":[-0.2958879646700981,-1.7842756946732992,0.71338606911949],"aabb_xy":[[-0.3067395709189737,-1.7951349854009502],[-0.2850363584212225,-1.7734164039456481]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_22","position":[0.2256833408064386,-0.8715050797438144,0.71338606911949],"aabb_xy":[[0.1919077816157456,-0.8855435749569793],[0.25945889999713156,-0.8574665845306493]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_23","position":[0.4175559852412092,-2.2077796548852264,0.71338606911949],"aabb_xy":[[0.3765380418548383,-2.2577796555161838],[0.45857392862758006,-2.157779654254269]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_24","position":[0.43513709705387305,0.9949434359904483,0.71338606911949],"aabb_xy":[[0.38513782188543694,0.9449434347145014],[0.48513637222230926,1.0449434372663957]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_25","position":[-0.19173301069810322,-1.5112938153699915,0.71338606911949],"aabb_xy":[[-0.20250598461947103,-1.5462938135890305],[-0.18096003677673547,-1.4762938171509525]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_26","position":[-0.6267205797742403,-0.5804580783397202,0.71338606911949],"aabb_xy":[[-0.6613116626282854,-0.6454580786247511],[-0.592129496920195,-0.515458078054689]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_27","position":[-0.3404036410868334,0.9849479120007181,0.71338606911949],"aabb_xy":[[-0.40540363924275247,0.958651667450806],[-0.27540364293091435,1.0112441565506303]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_28","position":[-0.06129890851132869,-1.8209758061435612,0.71338606911949],"aabb_xy":[[-0.06929289708903207,-1.8289758862386514],[-0.05330491993362528,-1.8129757260484707]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_29","position":[-0.33416698952699947,-2.40307033267786,0.71338606911949],"aabb_xy":[[-0.37915957624544994,-2.4480703319523087],[-0.2891744028085491,-2.358070333403411]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_30","position":[0.29676670982955744,-1.5500237493280942,0.71338606911949],"aabb_xy":[[0.24179298779322456,-1.6050237488923274],[0.3517404318658903,-1.495023749763861]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_31","position":[-0.2714694788985396,0.7624263301910288,0.71338606911949],"aabb_xy":[[-0.2769274245355597,0.6824263268833697],[-0.26601153326151955,0.8424263334986879]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6841963894128662,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5418.png","name":"5418"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5418.png","name":"5418"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3330.png","name":"3330"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6399.png","name":"6399"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3270.png","name":"3270"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8703.png","name":"8703"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":580.7209782620725,"rotation_z_degrees":77.50777961047255,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019361465473516543,0.014158695387491694,-0.0029781445535328917]},{"name":"camera_2","offset_m":[-0.006808567326855863,-0.007196922944679138,-0.00680866705776797]},{"name":"camera_3","offset_m":[-0.0019265727650942255,-0.017024996083617946,-0.019883589920940078]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012407013620486977,-0.0015125985010104267,0.0010433455270446469],"end_effector_yaw_offset_degrees":-0.8205675820358547},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017587290438607342,-0.0005062849959325316,-0.0011578730017339108],"end_effector_yaw_offset_degrees":-0.15883251383085883},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00024449696926651587,-0.0007146218622473661,-0.0014657843021539474],"end_effector_yaw_offset_degrees":-0.40350085030149585}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003172461442095937,0.001600667491270271],"position_m":[0.35727246144209596,-0.08239933250872973,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0026406737139543822,0.002042005716580939],"position_m":[0.2772406737139544,-0.32825799428341906,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0028317392270292103,-0.0029287725583697012],"position_m":[0.1635317392270292,0.2112712274416303,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0027852847733536223,-0.0002287352579529887],"position_m":[0.3468852847733536,0.11497126474204701,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6a020f955a82e6da978c8101c9b8b13b91f1f1dba133c4b850b566ab13a06874","episode_index":47,"episode_name":"episode_0047"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0047.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_5418/tex_ceiling_textures_8703/tex_floor_textures_3270/tex_table_textures_3330/tex_wall_textures_6399","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":6670180105001773344,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":6670180105001773344,"visual_seed":6670180105001773344,"scene_id":"lab_003","finished_at":"2026-09-04T02:08:00"} +{"episode_id":"ep_000048","started_at":"2026-09-04T02:08:02","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_0","position":[-0.04466813635134792,-0.8304304258046864,0.71338606911949],"aabb_xy":[[-0.05507969503183162,-0.8357761591405848],[-0.034256577670864194,-0.8250846924687878]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_1","position":[0.5675287322054066,-0.01524482954859252,0.71338606911949],"aabb_xy":[[0.5300287320335345,-0.04794556493149971],[0.6050287323772784,0.017455905834314667]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_2","position":[-0.598772301616505,-2.3794986074265942,0.71338606911949],"aabb_xy":[[-0.6081897761863677,-2.3889147845643133],[-0.5893548270466422,-2.370082430288875]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_3","position":[0.4882532918111271,-1.3653277037207414,0.71338606911949],"aabb_xy":[[0.48033001157237876,-1.3878277039587448],[0.4961765720498754,-1.342827703482738]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_4","position":[0.5874335396072745,-2.4915900332382837,0.71338606911949],"aabb_xy":[[0.5234335363886367,-2.5383131451372924],[0.6514335428259124,-2.4448669213392757]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_5","position":[-0.21247355730276873,0.30781805164562703,0.71338606911949],"aabb_xy":[[-0.24896937793004748,0.2713341092188694],[-0.17597773667549,0.34430199407238454]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_6","position":[0.1856370723214893,-2.054179870621014,0.71338606911949],"aabb_xy":[[0.10563707530724126,-2.0743144222944254],[0.2656370693357372,-2.0340453189476024]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_7","position":[-0.41301635379526025,1.4999057064709755,0.71338606911949],"aabb_xy":[[-0.5030163561292793,1.4224233518858629],[-0.32301635146124125,1.5773880610560882]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_8","position":[0.15996196969327703,-0.7490400775523631,0.71338606911949],"aabb_xy":[[0.09596197110670457,-0.7960470409518717],[0.2239619682798495,-0.7020331141528543]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_9","position":[0.3550901365863275,-1.1403599679249066,0.71338606911949],"aabb_xy":[[0.3437284019330412,-1.1517284343311944],[0.36645187123961354,-1.1289915015186183]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_10","position":[-0.21265432656464417,0.06537703044243814,0.71338606911949],"aabb_xy":[[-0.21728944171687753,0.06150969536528949],[-0.20801921141241075,0.06924436551958678]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_11","position":[0.43820444175136175,0.36522966568655546,0.71338606911949],"aabb_xy":[[0.38820943079190984,0.3152296666509638],[0.4881994527108139,0.4152296647221473]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_12","position":[0.4402006642529346,0.7180123399544902,0.71338606911949],"aabb_xy":[[0.38520066605118974,0.6774903733280526],[0.4952006624546794,0.7585343065809278]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_13","position":[0.09081631797222767,-1.5950015835838212,0.71338606911949],"aabb_xy":[[0.05331631678743486,-1.5994198062798815],[0.12831631915702044,-1.5905833608877604]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_14","position":[0.47256036158195514,1.3878013944700793,0.71338606911949],"aabb_xy":[[0.4375603616054593,1.3783367784224625],[0.507560361558451,1.3972660105176957]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_15","position":[0.05015018317800746,1.0859473595576383,0.71338606911949],"aabb_xy":[[0.04607202527095772,1.081866379309375],[0.0542283410850572,1.0900283398059016]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_16","position":[0.32162575517913816,-1.473742927108803,0.71338606911949],"aabb_xy":[[0.24162575821609894,-1.5508185687525764],[0.4016257521421773,-1.3966672854650295]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_17","position":[-0.24053712007865508,-0.22614343597289333,0.71338606911949],"aabb_xy":[[-0.24467297641135524,-0.2636434354172503],[-0.23640126374595485,-0.18864343652853632]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_18","position":[-0.4475917073871889,0.7628401228168245,0.71338606911949],"aabb_xy":[[-0.5075917082480016,0.7114136928103378],[-0.38759170652637603,0.8142665528233106]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_19","position":[-0.03844381478284076,-0.68022594289023,0.71338606911949],"aabb_xy":[[-0.05972182292631301,-0.7452259452163029],[-0.017165806639368515,-0.6152259405641568]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_20","position":[-0.2214837878017913,0.896768726209443,0.71338606911949],"aabb_xy":[[-0.2327288433724091,0.8855269284853476],[-0.21023873223117343,0.9080105239335382]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_21","position":[0.13890335139325571,-1.248876654322125,0.71338606911949],"aabb_xy":[[0.09177397239142002,-1.3128766553665268],[0.18603273039509136,-1.1848766532777228]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_22","position":[0.2603254853687974,-2.413470738307611,0.71338606911949],"aabb_xy":[[0.25382384886079284,-2.42323856033392],[0.2668271218768021,-2.4037029162813006]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_23","position":[0.6381624488431563,-1.389616724570372,0.71338606911949],"aabb_xy":[[0.5830372432135654,-1.4496167260116593],[0.693287654472747,-1.329616723129085]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_24","position":[-0.5016068416393601,-0.6889305737653912,0.71338606911949],"aabb_xy":[[-0.5191067750733434,-0.7064305736856257],[-0.4841069082053766,-0.6714305738451566]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_25","position":[-0.09760299016019236,-2.4250856698566947,0.71338606911949],"aabb_xy":[[-0.15760299000675915,-2.4819042920497334],[-0.03760299031362557,-2.368267047663656]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_26","position":[0.6106146380712683,0.9511851018098785,0.71338606911949],"aabb_xy":[[0.5781529371893407,0.9210522696949758],[0.6430763389531956,0.981317933924781]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_27","position":[-0.2642437728897387,-1.6237629722870321,0.71338606911949],"aabb_xy":[[-0.31923925071039805,-1.678762973720939],[-0.20924829506907927,-1.5687629708531252]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_28","position":[-0.23272081913195103,-0.4583309595965561,0.71338606911949],"aabb_xy":[[-0.2927208196398039,-0.5151776932824773],[-0.1727208186240981,-0.40148422591063476]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6851988310646663,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3544.png","name":"3544"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3544.png","name":"3544"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3331.png","name":"3331"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5497.png","name":"5497"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4170.png","name":"4170"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/10.png","name":"10"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":576.6088475139859,"rotation_z_degrees":241.2796196653479,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016114075521641912,0.013254262406711768,0.0068627140921822954]},{"name":"camera_2","offset_m":[0.011534540991409683,-0.0182383251214122,0.010144186008846687]},{"name":"camera_3","offset_m":[0.013564635527375458,0.0027507550248224363,-0.006088821781280895]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018599260628214865,0.001517329245994251,-0.0003190692187191612],"end_effector_yaw_offset_degrees":-0.29840943982378554},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.000733082606126559,0.0001773546353817713,0.0008911772368643042],"end_effector_yaw_offset_degrees":-0.7484862191736261},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008421778924735056,-0.0012986228966703171,0.0002763544807680299],"end_effector_yaw_offset_degrees":-0.8133115216172813}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00034156676384376836,-0.0017586344548450273],"position_m":[0.3544415667638438,-0.08575863445484504,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004200023864663002,0.0028073158189031765],"position_m":[0.278800023864663,-0.3274926841810968,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0036753139838930572,-0.0020135367726388754],"position_m":[0.15702468601610695,0.21218646322736112,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0049680398312814565,0.004974467960904839],"position_m":[0.3490680398312815,0.12017446796090483,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d64ef318ff0ad7de1ff525e3ad52df8eef74b97d5469a5781303d7bd12116e2b","episode_index":48,"episode_name":"episode_0048"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0048.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_3544/tex_ceiling_textures_10/tex_floor_textures_4170/tex_table_textures_3331/tex_wall_textures_5497","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":8324281449470266040,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":8324281449470266040,"visual_seed":8324281449470266040,"scene_id":"lab_003","finished_at":"2026-09-04T02:10:50"} +{"episode_id":"ep_000049","started_at":"2026-09-04T02:10:53","dimensions":{"distractor":{"count":35,"items":[{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_0","position":[-0.46503064130483773,-0.2704319553530419,0.71338606911949],"aabb_xy":[[-0.4720709512383748,-0.35043195475271327],[-0.4579903313713008,-0.19043195595337048]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_1","position":[0.19198729335374953,-0.9219468141390639,0.71338606911949],"aabb_xy":[[0.1687054511556182,-1.0069468154362917],[0.21526913555188087,-0.8369468128418357]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_2","position":[0.5210628201777496,0.6000057164385879,0.71338606911949],"aabb_xy":[[0.47975827711401364,0.5360057168704709],[0.5623673632414856,0.6640057160067051]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_3","position":[0.6533141675949965,1.4711189940179215,0.71338606911949],"aabb_xy":[[0.6280933307351567,1.4458952431650343],[0.678535004454836,1.4963427448708078]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_4","position":[0.46438933878157584,-1.5778061477908878,0.71338606911949],"aabb_xy":[[0.4043893385301746,-1.6320874728273524],[0.524389339032977,-1.5235248227544231]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_5","position":[0.5596834931928487,-1.0397260342721975,0.71338606911949],"aabb_xy":[[0.48968349055626226,-1.059830899268063],[0.629683495829435,-1.019621169276332]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_6","position":[0.10410008520386782,-1.9118721592624688,0.71338606911949],"aabb_xy":[[0.04410008469601489,-1.96871889294839],[0.16410008571172072,-1.8550254255765475]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_7","position":[-0.15750212101446648,1.7922969324629352,0.71338606911949],"aabb_xy":[[-0.19500212167904515,1.7766098744627128],[-0.12000212034988776,1.8079839904631572]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_8","position":[-0.49681423495361066,1.3430837363241368,0.71338606911949],"aabb_xy":[[-0.5193106563874748,1.3205837365173894],[-0.47431781351974656,1.3655837361308842]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_9","position":[0.5909073944827152,1.806850595698268,0.71338606911949],"aabb_xy":[[0.5844935808395302,1.800440775450599],[0.5973212081259001,1.8132604159459358]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_10","position":[-0.3450394527856537,-2.3679153444649357,0.71338606911949],"aabb_xy":[[-0.43503944952126383,-2.42109880778223],[-0.2550394560500434,-2.314731881147641]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_11","position":[-0.5632469709349778,1.4708721561435252,0.71338606911949],"aabb_xy":[[-0.6282469719354783,1.4200857909888502],[-0.49824696993447726,1.5216585212982001]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_12","position":[0.15466885702256317,1.5594904191608259,0.71338606911949],"aabb_xy":[[0.09954365139297237,1.4994904177195387],[0.20979406265215392,1.619490420602113]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_13","position":[0.4973878868441992,-0.777280571710316,0.71338606911949],"aabb_xy":[[0.47710358412080034,-0.7975631968530248],[0.5176721895675978,-0.7569979465676071]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_14","position":[-0.11099683988757181,-2.4566874495951256,0.71338606911949],"aabb_xy":[[-0.18099684201900132,-2.4794494152208206],[-0.04099683775614224,-2.4339254839694298]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_15","position":[-0.2126095871499823,-0.40572451916486685,0.71338606911949],"aabb_xy":[[-0.23081541081122997,-0.4167499197468585],[-0.19440376348873462,-0.3946991185828752]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_16","position":[0.42252540798102234,1.6539734801022417,0.71338606911949],"aabb_xy":[[0.36252540738500616,1.5991610075570182],[0.4825254085770385,1.7087859526474651]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_17","position":[0.06739337484250574,1.7555228794318354,0.71338606911949],"aabb_xy":[[0.017420309309990282,1.7055228796193027],[0.11736644037502122,1.8055228792443685]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_18","position":[0.47073067772318855,0.08616181550926516,0.71338606911949],"aabb_xy":[[0.436433766705448,0.05186492929932378],[0.5050275887409292,0.12045870171920652]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_19","position":[-0.6059184477999531,-2.364919228426369,0.71338606911949],"aabb_xy":[[-0.685918445780738,-2.372520769388221],[-0.5259184498191679,-2.357317687464517]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_20","position":[0.22529315837327635,-1.306824429449789,0.71338606911949],"aabb_xy":[[0.17581273715931756,-1.3708244273626407],[0.27477357958723514,-1.242824431536937]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_21","position":[-0.5529795509634402,-1.4195161302790635,0.71338606911949],"aabb_xy":[[-0.6007857185772089,-1.4845161329861223],[-0.5051733833496715,-1.3545161275720043]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_22","position":[-0.2561882462729884,0.3385584156108292,0.71338606911949],"aabb_xy":[[-0.29118824458368386,0.3308434006872836],[-0.22118824796229297,0.34627343053437487]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_23","position":[0.6674245991072432,-0.28369809224652087,0.71338606911949],"aabb_xy":[[0.6288789062820421,-0.32224386330270954],[0.7059702919324442,-0.2451523211903322]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_24","position":[0.4408090217846834,0.984399981224727,0.71338606911949],"aabb_xy":[[0.38583529974835057,0.929399981660494],[0.49578274382101634,1.0393999807889602]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_25","position":[0.5148514365094317,-2.237491746158414,0.71338606911949],"aabb_xy":[[0.42485143283251325,-2.298924152735518],[0.6048514401863496,-2.1760593395813093]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_26","position":[0.5456290071836287,0.8114843540191932,0.71338606911949],"aabb_xy":[[0.4816290064801594,0.7654659715462723],[0.6096290078870981,0.8575027364921143]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_27","position":[-0.6094763000565517,0.30231697130777313,0.71338606911949],"aabb_xy":[[-0.644067382910597,0.23731697102274205],[-0.5748852172025065,0.36731697159280413]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_28","position":[0.17768367280498265,-2.5321572459337625,0.71338606911949],"aabb_xy":[[0.14018367286121627,-2.540450335968599],[0.21518367274874908,-2.523864155898926]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_29","position":[-0.07190022352332204,0.8778273043925369,0.71338606911949],"aabb_xy":[[-0.16190022294169293,0.8444518075483469],[0.018099775895048867,0.9112028012367264]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_30","position":[-0.5567527063576544,-2.1262472287769776,0.71338606911949],"aabb_xy":[[-0.5647466949353577,-2.1342473088720673],[-0.5487587177799509,-2.118247148681887]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_31","position":[0.05869352278703521,-1.0435849735533398,0.71338606911949],"aabb_xy":[[0.008693523346839593,-1.093552898037656],[0.10869352222723083,-0.9936170490690235]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_32","position":[0.47303718373690473,0.4073303770843584,0.71338606911949],"aabb_xy":[[0.4578650144552714,0.3921615201561551],[0.4882093530185381,0.4224992340125618]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_33","position":[-0.16099923846293518,-1.125883307678599,0.71338606911949],"aabb_xy":[[-0.24599923715500982,-1.1578691710734776],[-0.07599923977086054,-1.09389744428372]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_34","position":[0.2095078617515822,-0.7054524357214038,0.71338606911949],"aabb_xy":[[0.11982078544346678,-0.7954524359758544],[0.29919493805969766,-0.6154524354669533]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6816692462198936,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4102.png","name":"4102"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4102.png","name":"4102"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6452.png","name":"6452"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9548.png","name":"9548"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5188.png","name":"5188"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2134.png","name":"2134"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":555.6170007026068,"rotation_z_degrees":193.95482055867149,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013526399484467589,0.005894060331721511,0.014467297150860616]},{"name":"camera_2","offset_m":[-0.019362719443793183,-0.004167797635308196,0.015255494846876456]},{"name":"camera_3","offset_m":[0.0011771148882966688,-0.018649790869947572,-0.010048370698090472]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006443264690614405,-0.001509262293532891,-0.00031125788856724095],"end_effector_yaw_offset_degrees":-0.008299059183710655},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005367265299568058,0.0017343336851260234,0.0011493159214000055],"end_effector_yaw_offset_degrees":0.6504546533500202},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010633514308478506,0.0007076777691013116,0.001079358067161705],"end_effector_yaw_offset_degrees":-0.7431456667227103}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0005192047128634025,0.003777484037640785],"position_m":[0.35461920471286346,-0.08022251596235921,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00047298168754971413,0.001620584764650033],"position_m":[0.2741270183124503,-0.32867941523534994,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001749677594422491,-0.004274472257288215],"position_m":[0.1624496775944225,0.20992552774271178,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0009187723262554003,0.004473850830816081],"position_m":[0.3431812276737446,0.11967385083081608,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6485993f148f8a11e472f46779f3d421dde6339c082a0008ea53dd3d6400da15","episode_index":49,"episode_name":"episode_0049"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0049.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_4102/tex_ceiling_textures_2134/tex_floor_textures_5188/tex_table_textures_6452/tex_wall_textures_9548","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":5186850434362494710,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":5186850434362494710,"visual_seed":5186850434362494710,"scene_id":"lab_003","finished_at":"2026-09-04T02:13:26"} +{"episode_id":"ep_000050","started_at":"2026-09-04T02:13:29","dimensions":{"distractor":{"count":33,"items":[{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_0","position":[0.2131324856175899,-1.247151431667157,0.71338606911949],"aabb_xy":[[0.12313248619921896,-1.2805269285113465],[0.30313248503596074,-1.213775934822967]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_1","position":[-0.24446271195832403,-1.9397090507117913,0.71338606911949],"aabb_xy":[[-0.25170647800456936,-2.0197090489153937],[-0.2372189459120787,-1.859709052508189]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_2","position":[-0.4845061273472155,0.832956884024664,0.71338606911949],"aabb_xy":[[-0.5485061296900171,0.7880160327805315],[-0.4205061250044139,0.8778977352687964]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_3","position":[-0.596344038971723,1.4614700366274396,0.71338606911949],"aabb_xy":[[-0.6138440392310596,1.447378494438667],[-0.5788440387123863,1.4755615788162122]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_4","position":[0.4361638154847052,-1.3872306519702269,0.71338606911949],"aabb_xy":[[0.3991297060566454,-1.421607859303936],[0.47319792491276486,-1.3528534446365172]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_5","position":[-0.06040931299830843,0.41501465768051116,0.71338606911949],"aabb_xy":[[-0.0954093128943273,0.4066404221685712],[-0.025409313102289558,0.4233888931924511]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_6","position":[-0.2793625408262059,-0.45345641365744793,0.71338606911949],"aabb_xy":[[-0.34335823822130246,-0.5174564119581566],[-0.2153668434311093,-0.3894564153567392]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_7","position":[-0.1500223580990816,-1.0687926274077657,0.71338606911949],"aabb_xy":[[-0.2140223545264035,-1.1159622512298624],[-0.0860223616717597,-1.0216230035856695]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_8","position":[-0.5119788400379134,0.6295038986856585,0.71338606911949],"aabb_xy":[[-0.5469788383080333,0.6224297709906703],[-0.4769788417677935,0.6365780263806466]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_9","position":[0.3456778532227347,1.729050179466046,0.71338606911949],"aabb_xy":[[0.2856778526267185,1.6742377069208225],[0.4056778538187509,1.7838626520112695]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_10","position":[0.3805916726007481,-0.712710980146366,0.71338606911949],"aabb_xy":[[0.33049420861967455,-0.7767109806561778],[0.4306891365818218,-0.6487109796365542]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_11","position":[0.3611261168165696,0.8732881112064312,0.71338606911949],"aabb_xy":[[0.32997919797298647,0.8032881125196241],[0.3922730356601527,0.9432881098932384]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_12","position":[-0.42272861289386543,0.3219397341772967,0.71338606911949],"aabb_xy":[[-0.4680072277750147,0.25793973482911303],[-0.37744999801271617,0.3859397335254804]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_13","position":[-0.12611302739106844,-1.9627677671978847,0.71338606911949],"aabb_xy":[[-0.1380457617528965,-1.975149920005744],[-0.11418029302924038,-1.9503856143900253]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_14","position":[-0.22637280435556517,1.702297623633671,0.71338606911949],"aabb_xy":[[-0.2963728064869947,1.679535658007975],[-0.1563728022241356,1.7250595892593663]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_15","position":[-0.06995121883919175,-2.244759211439397,0.71338606911949],"aabb_xy":[[-0.07485051114575524,-2.2724361307419656],[-0.06505192653262824,-2.217082292136828]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_16","position":[-0.16662069838062854,1.1208428512181392,0.71338606911949],"aabb_xy":[[-0.2088051125414593,1.056842850940928],[-0.12443628421979783,1.1848428514953504]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_17","position":[-0.2045725302476772,-0.13774629450253428,0.71338606911949],"aabb_xy":[[-0.2295725301801951,-0.1446289627234576],[-0.17957253031515932,-0.13086362628161097]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_18","position":[-0.3623255395582579,-1.7749344341571638,0.71338606911949],"aabb_xy":[[-0.3676580542128709,-1.7802587624023993],[-0.35699302490364493,-1.7696101059119282]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_19","position":[-0.2051783296824095,-0.6918007765664866,0.71338606911949],"aabb_xy":[[-0.22272502459852841,-0.729300778130738],[-0.18763163476629055,-0.6543007750022355]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_20","position":[-0.5636338486450903,-0.13422679887337852,0.71338606911949],"aabb_xy":[[-0.6186260992806012,-0.1892268006166913],[-0.5086415980095793,-0.07922679713006574]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_21","position":[-0.6042502652768177,-2.1665548414575144,0.71338606911949],"aabb_xy":[[-0.6213523432351858,-2.183661646988784],[-0.5871481873184495,-2.1494480359262447]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_22","position":[-0.2375048099469137,0.17886983389896205,0.71338606911949],"aabb_xy":[[-0.2493768929584148,0.09386983420531173],[-0.2256327269354126,0.2638698335926124]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_23","position":[0.17597752943153544,-1.0899556771344776,0.71338606911949],"aabb_xy":[[0.1159775289236825,-1.146802410820399],[0.23597752993938834,-1.0331089434485563]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_24","position":[0.215700816225033,-2.0013048544328003,0.71338606911949],"aabb_xy":[[0.20225428959098968,-2.0147747060858916],[0.22914734285907634,-1.987835002779709]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_25","position":[0.481077098382374,-1.9298384816513827,0.71338606911949],"aabb_xy":[[0.43109414819489467,-1.9798384812939431],[0.5310600485698533,-1.8798384820088223]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_26","position":[-0.22983092284204087,-1.4494539603302985,0.71338606911949],"aabb_xy":[[-0.24571541610736602,-1.4638069006291228],[-0.21394642957671572,-1.4351010200314747]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_27","position":[-0.3246141242020054,-2.440334945535576,0.71338606911949],"aabb_xy":[[-0.4046141228588914,-2.4548398044598394],[-0.2446141255451194,-2.4258300866113136]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_28","position":[-0.09465851177486018,-1.4840087812423985,0.71338606911949],"aabb_xy":[[-0.14447529123969494,-1.5340087797267021],[-0.0448417323100254,-1.4340087827580954]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_29","position":[-0.1941133529976934,0.9602702072534921,0.71338606911949],"aabb_xy":[[-0.20282732204762782,0.9377702065943039],[-0.18539938394775884,0.9827702079126803]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_30","position":[-0.5300127227654445,-0.2765685868999044,0.71338606911949],"aabb_xy":[[-0.5950127209213636,-0.3028648314498166],[-0.4650127246095255,-0.2502723423499922]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_31","position":[-0.09514868908594987,1.7075543691438466,0.71338606911949],"aabb_xy":[[-0.10829993505723925,1.68255436938716],[-0.08199744311466052,1.7325543689005332]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_32","position":[-0.5930823145106319,1.2033936424753038,0.71338606911949],"aabb_xy":[[-0.6230498714204575,1.173393642177418],[-0.5631147576008062,1.2333936427731895]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6836611502892057,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6116.png","name":"6116"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6116.png","name":"6116"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7414.png","name":"7414"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7792.png","name":"7792"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8749.png","name":"8749"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6392.png","name":"6392"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":590.7488923199498,"rotation_z_degrees":272.4943151827505,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013900593701662422,0.004264682782237718,-0.017561649508642252]},{"name":"camera_2","offset_m":[-0.010249323727711892,0.005193465288697505,0.00897706526311053]},{"name":"camera_3","offset_m":[-0.0030051823171999767,-0.012060607107112872,0.012242218049465212]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012551183278206395,-0.0001773874149278681,-0.0009297628856929831],"end_effector_yaw_offset_degrees":-0.5003178657224716},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0019784250380936487,-0.001780714302113069,-0.0006488191980701084],"end_effector_yaw_offset_degrees":0.7990327244883559},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009307582719086899,0.001958392213898495,-4.90456676651191e-05],"end_effector_yaw_offset_degrees":0.35196879638237144}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0017730650175731269,0.0016529464673314355],"position_m":[0.3523269349824269,-0.08234705353266857,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0009486095017529469,7.311471184622519e-05],"position_m":[0.275548609501753,-0.33022688528815375,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00018337615808276895,1.5815590399315127e-05],"position_m":[0.1608833761580828,0.21421581559039932,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0032763931564404195,-0.00028141432913881756],"position_m":[0.3473763931564404,0.11491858567086118,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"19a5046b378f0e8b412d2a784affad08fd88d4d4d0b98238e04776444df8b63a","episode_index":50,"episode_name":"episode_0050"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0050.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_6116/tex_ceiling_textures_6392/tex_floor_textures_8749/tex_table_textures_7414/tex_wall_textures_7792","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":8409806445675659694,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":8409806445675659694,"visual_seed":8409806445675659694,"scene_id":"lab_003","finished_at":"2026-09-04T02:16:05"} +{"episode_id":"ep_000051","started_at":"2026-09-04T02:16:08","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_0","position":[0.07782706194378874,-0.6255562154208867,0.71338606911949],"aabb_xy":[[0.057542759220389976,-0.6458388405635955],[0.09811136466718749,-0.6052735902781778]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_1","position":[0.41663681930924956,-1.5673145290597021,0.71338606911949],"aabb_xy":[[0.3791368188118913,-1.5712832126078204],[0.4541368198066078,-1.5633458455115838]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_2","position":[0.4279397855628557,-0.9017882008798854,0.71338606911949],"aabb_xy":[[0.4206785379924483,-0.9145752111433949],[0.43520103313326314,-0.889001190616376]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_3","position":[0.08011292385514723,1.432097706640357,0.71338606911949],"aabb_xy":[[0.010112922252867751,1.4186649134386995],[0.15011292545742672,1.4455304998420146]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_4","position":[-0.6239094182488298,-1.6759349985384717,0.71338606911949],"aabb_xy":[[-0.6414094184938791,-1.6934347863780386],[-0.6064094180037803,-1.6584352106989049]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_5","position":[-0.45902128457531266,-2.2832253657683896,0.71338606911949],"aabb_xy":[[-0.46672447524938965,-2.2909347364671278],[-0.45131809390123556,-2.2755159950696515]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_6","position":[0.24200023397214476,-0.969731672140304,0.71338606911949],"aabb_xy":[[0.1520002316381257,-1.0472140267254166],[0.3320002363061638,-0.8922493175551913]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_7","position":[-0.49330858343747636,0.17844170943257343,0.71338606911949],"aabb_xy":[[-0.530159131374464,0.14094170860953972],[-0.45645803550048875,0.21594171025560718]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_8","position":[0.5108779504397905,0.9962527542494501,0.71338606911949],"aabb_xy":[[0.5071746891106514,0.9925507359407322],[0.5145812117689292,0.9999547725581679]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_9","position":[-0.30164678886341245,-2.50835710061471,0.71338606911949],"aabb_xy":[[-0.33914678728681275,-2.5215213145825404],[-0.26414679044001205,-2.495192886646879]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_10","position":[-0.20716641098384292,-1.9032127334573496,0.71338606911949],"aabb_xy":[[-0.26216640918558776,-1.943734700083787],[-0.15216641278209808,-1.8626907668309118]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_11","position":[-0.018880116413978687,1.5710966884570756,0.71338606911949],"aabb_xy":[[-0.08288011711744804,1.5250783059841548],[0.04511988428949067,1.6171150709299968]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_12","position":[-0.6673941430049914,1.1903580324895007,0.71338606911949],"aabb_xy":[[-0.6770257792254211,1.1807207197097918],[-0.6577625067845618,1.1999953452692096]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_13","position":[-0.45970617623413645,-2.5005368894889584,0.71338606911949],"aabb_xy":[[-0.49400308725187697,-2.5348337756988992],[-0.4254092652163957,-2.4662400032790166]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_14","position":[-0.6208151020429471,-0.27314994211626464,0.71338606911949],"aabb_xy":[[-0.6280974184196105,-0.3631499457257735],[-0.6135327856662832,-0.18314993850675557]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_15","position":[0.40318055434259303,-0.7515825708983996,0.71338606911949],"aabb_xy":[[0.37818055479085455,-0.7617250547635342],[0.4281805538943315,-0.7414400870332648]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_16","position":[-0.022018692525176076,-0.9109391082894269,0.71338606911949],"aabb_xy":[[-0.0720029282333533,-0.9609391071029225],[0.027965543183001148,-0.8609391094759313]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_17","position":[-0.49583238945265534,0.8440735150505354,0.71338606911949],"aabb_xy":[[-0.5758323864156945,0.7669978734067618],[-0.4158323924896161,0.9211491566943087]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_18","position":[-0.1509040523969063,-1.2005194367659306,0.71338606911949],"aabb_xy":[[-0.23090405565474925,-1.2805159445579146],[-0.07090404913906334,-1.1205229289739467]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_19","position":[0.4494890207852491,-0.6861717828597822,0.71338606911949],"aabb_xy":[[0.3694890197121288,-0.6959498291971666],[0.5294890218583694,-0.6763937365223978]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_20","position":[0.33298020363919,1.4906538378341287,0.71338606911949],"aabb_xy":[[0.29079578947835927,1.4266538375569175],[0.37516461780002075,1.55465383811134]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_21","position":[-0.4369159180936811,0.5331650162811337,0.71338606911949],"aabb_xy":[[-0.44569714524091736,0.5243852689926036],[-0.4281346909464449,0.5419447635696639]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_22","position":[-0.536712117023583,1.2019383525234693,0.71338606911949],"aabb_xy":[[-0.616712114037831,1.181803800850058],[-0.45671212000933503,1.2220729041968805]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_23","position":[-0.21688846338184453,-0.9280739412622883,0.71338606911949],"aabb_xy":[[-0.25188846165196443,-0.9351480689572764],[-0.1818884651117246,-0.9209998135673001]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_24","position":[0.1528385962074451,-1.7572817471803444,0.71338606911949],"aabb_xy":[[0.08883859909533942,-1.806314116974755],[0.2168385933195508,-1.7082493773859337]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_25","position":[-0.37862538784180994,-0.05239330431102429,0.71338606911949],"aabb_xy":[[-0.4161253877855764,-0.060686394345860865],[-0.3411253878980436,-0.0441002142761877]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_26","position":[0.002426252871600032,-2.554943181407821,0.71338606911949],"aabb_xy":[[-0.017632158741640258,-2.5750082683169784],[0.022484664484840322,-2.5348780944986635]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_27","position":[-0.006888312871275892,-1.0432613250971747,0.71338606911949],"aabb_xy":[[-0.015001967544652994,-1.0513671415512036],[0.0012253418021012088,-1.0351555086431454]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_28","position":[0.2393990432848041,-2.0399396192681643,0.71338606911949],"aabb_xy":[[0.22189904415043693,-2.0498192463057516],[0.2568990424191713,-2.030059992230576]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_29","position":[-0.42486572971711584,1.5331679484701692,0.71338606911949],"aabb_xy":[[-0.4898657278730349,1.506871703920257],[-0.3598657315611968,1.5594641930200814]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_30","position":[0.5824218833023243,-2.333831380599566,0.71338606911949],"aabb_xy":[[0.5174218832680215,-2.380532057279894],[0.647421883336627,-2.2871307039192392]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_31","position":[-0.4357441457632676,-1.0276274925237334,0.71338606911949],"aabb_xy":[[-0.5157379693418258,-1.107627495116575],[-0.35575032218470937,-0.9476274899308919]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_32","position":[0.4007310787056235,0.8498633172965109,0.71338606911949],"aabb_xy":[[0.39539350303961895,0.8248633163673711],[0.4060686543716281,0.8748633182256507]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6787137794527532,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6412.png","name":"6412"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6412.png","name":"6412"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3330.png","name":"3330"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1413.png","name":"1413"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1219.png","name":"1219"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4178.png","name":"4178"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":794.5243795499099,"rotation_z_degrees":272.16817424298875,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00879982127221125,0.0006320934704495788,-0.011835123753368117]},{"name":"camera_2","offset_m":[-0.01725364891331544,-0.009394910065113966,0.018226631774470096]},{"name":"camera_3","offset_m":[0.016463139481505486,0.004089099148724656,0.014521098322206657]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0005000150359653532,-0.0014636898940323245,-0.0005562319646560522],"end_effector_yaw_offset_degrees":-0.8375128060344159},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012158608696746808,-0.0017085572339666619,-0.001000074870207202],"end_effector_yaw_offset_degrees":0.923335213152755},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018679497186936476,-0.0001056387573458383,0.0016189602037714385],"end_effector_yaw_offset_degrees":-0.7584666390988548}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00024416991286476016,-0.002778492863152845],"position_m":[0.35434416991286477,-0.08677849286315285,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002724826503021014,0.0036593452731599066],"position_m":[0.271875173496979,-0.32664065472684006,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001957751785380989,0.0038520129558606052],"position_m":[0.15874224821461902,0.2180520129558606,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0015741066692838458,0.002427754361682186],"position_m":[0.3456741066692839,0.11762775436168219,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8cab52401ee322ff8a0ff4c484fc76da87ef3970dcc3681a5a2b1a6fcb902021","episode_index":51,"episode_name":"episode_0051"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0051.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_6412/tex_ceiling_textures_4178/tex_floor_textures_1219/tex_table_textures_3330/tex_wall_textures_1413","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":4579383857486975937,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":4579383857486975937,"visual_seed":4579383857486975937,"scene_id":"lab_003","finished_at":"2026-09-04T02:18:47"} +{"episode_id":"ep_000052","started_at":"2026-09-04T02:18:50","dimensions":{"distractor":{"count":35,"items":[{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_0","position":[0.37210987291888165,0.7386030588549528,0.71338606911949],"aabb_xy":[[0.32213680738636624,0.68860305904242],[0.4220829384513972,0.7886030586674859]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_1","position":[0.21433091094904488,-1.502511035385187,0.71338606911949],"aabb_xy":[[0.15033091057151124,-1.552256302235999],[0.2783309113265785,-1.4527657685343744]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_2","position":[-0.029139496555541267,-2.023780619676481,0.71338606911949],"aabb_xy":[[-0.0355533101987262,-2.0301904399241493],[-0.022725682912356323,-2.017370799428812]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_3","position":[0.43908315194787817,-0.8998547856427612,0.71338606911949],"aabb_xy":[[0.4337455762818736,-0.9248547865719011],[0.44442072761388274,-0.8748547847136215]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_4","position":[0.18305215190205604,-2.4774619942862866,0.71338606911949],"aabb_xy":[[0.11305214926546964,-2.497566859282152],[0.2530521545386423,-2.457357129290421]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_5","position":[-0.5483101650733058,-1.1205958334091468,0.71338606911949],"aabb_xy":[[-0.5674224724312846,-1.1397306122863888],[-0.5291978577153269,-1.1014610545319048]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_6","position":[0.583834534630836,1.1288149932040747,0.71338606911949],"aabb_xy":[[0.5463345343386612,1.1247735178034715],[0.6213345349230108,1.1328564686046785]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_7","position":[-0.04368085945891842,-1.1256321598325887,0.71338606911949],"aabb_xy":[[-0.05376256653749189,-1.205632157724703],[-0.033599152380344936,-1.0456321619404736]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_8","position":[-0.010643619786087855,-2.4696628959140448,0.71338606911949],"aabb_xy":[[-0.035643619058050136,-2.486008259510207],[0.014356379485874421,-2.4533175323178824]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_9","position":[-0.1590648541848817,0.5749725889344037,0.71338606911949],"aabb_xy":[[-0.17169164147207805,0.5654265152328308],[-0.14643806689768535,0.5845186626359766]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_10","position":[0.5920941056855498,1.4793143964257296,0.71338606911949],"aabb_xy":[[0.5577778285109317,1.4293143964525519],[0.6264103828601676,1.5293143963989073]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_11","position":[0.02829722521736433,1.5761955687632763,0.71338606911949],"aabb_xy":[[0.019495169908391615,1.5683842426083467],[0.037099280526337035,1.584006894918205]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_12","position":[0.22613042124535931,1.7632751369051687,0.71338606911949],"aabb_xy":[[0.1711372099082226,1.7082751365663755],[0.2811236325824961,1.8182751372439627]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_13","position":[-0.572026602719908,-1.4518382065758983,0.71338606911949],"aabb_xy":[[-0.6360265991154811,-1.515801494994632],[-0.5080266063243349,-1.3878749181571648]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_14","position":[-0.5237062358265117,-0.9494716378488528,0.71338606911949],"aabb_xy":[[-0.6137062344209816,-0.965722224162274],[-0.4337062372320417,-0.933221051535432]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_15","position":[0.38677142039429113,-2.51638404428855,0.71338606911949],"aabb_xy":[[0.3497373109662313,-2.5507612516222595],[0.42380552982235076,-2.4820068369548407]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_16","position":[-0.19689856105440323,0.8745180283892937,0.71338606911949],"aabb_xy":[[-0.20814361662502107,0.8632762306651984],[-0.1856535054837854,0.885759826113389]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_17","position":[-0.02465615111543129,0.45313797404463374,0.71338606911949],"aabb_xy":[[-0.04715528684165826,0.43063797326637077],[-0.0021570153892043163,0.4756379748228967]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_18","position":[-0.35174670050356655,-2.0063030442371366,0.71338606911949],"aabb_xy":[[-0.39674670196979545,-2.0513029010986177],[-0.3067466990373377,-1.9613031873756563]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_19","position":[-0.3008993193998365,0.17632361634296911,0.71338606911949],"aabb_xy":[[-0.3353616667979782,0.14182973394514636],[-0.2664369720016946,0.21081749874079175]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_20","position":[0.5018559075917748,-0.09066857461657296,0.71338606911949],"aabb_xy":[[0.43785591030612614,-0.13217529356941693],[0.5658559048774234,-0.04916185566372899]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_21","position":[-0.4379919040394801,1.4575928737570343,0.71338606911949],"aabb_xy":[[-0.44670587308941445,1.4350928730978456],[-0.4292779349895455,1.480092874416222]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_22","position":[-0.5294027743764701,-1.9173030026876512,0.71338606911949],"aabb_xy":[[-0.5359044108844747,-1.9270708247139612],[-0.5229011378684655,-1.9075351806613416]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_23","position":[0.5872575656130499,0.6245053305606665,0.71338606911949],"aabb_xy":[[0.5377771443990911,0.5605053326478147],[0.6367379868270087,0.6885053284735183]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_24","position":[0.40027506238661115,-2.4070696961471443,0.71338606911949],"aabb_xy":[[0.3946933907524824,-2.4195696959649196],[0.4058567340207399,-2.394569696329369]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_25","position":[0.11913525812579051,-0.8894294998189243,0.71338606911949],"aabb_xy":[[0.09663525788227513,-0.9016341344786963],[0.1416352583693059,-0.8772248651591524]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_26","position":[-0.23345988517837418,1.6267496960429937,0.71338606911949],"aabb_xy":[[-0.31345988383526024,1.6122448371187308],[-0.1534598865214882,1.6412545549672566]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_27","position":[0.5489344196984942,-1.7594708780547923,0.71338606911949],"aabb_xy":[[0.5037631018503251,-1.823470875199331],[0.5941057375466631,-1.695470880910254]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_28","position":[-0.16716790445565777,-1.230565253774518,0.71338606911949],"aabb_xy":[[-0.17516189303336113,-1.2385653338696083],[-0.15917391587795435,-1.2225651736794276]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_29","position":[-0.4242597775437483,0.951883497507823,0.71338606911949],"aabb_xy":[[-0.46075559817102696,0.9153995550810652],[-0.3877639569164695,0.9883674399345803]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_30","position":[-0.13579948974229805,-2.194347880999174,0.71338606911949],"aabb_xy":[[-0.19342995862956885,-2.254347879925884],[-0.07816902085502718,-2.1343478820724626]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_31","position":[-0.07726850592402024,1.2083103547052678,0.71338606911949],"aabb_xy":[[-0.1017821300210261,1.1840457614032314],[-0.05275488182701438,1.2325749480073043]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_32","position":[0.5875633332105503,0.19486352457888367,0.71338606911949],"aabb_xy":[[0.5650669117766862,0.17236352477213623],[0.6100597546444144,0.2173635243856311]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_33","position":[-0.49792039888011136,-2.066390346929527,0.71338606911949],"aabb_xy":[[-0.5157895066345668,-2.0802232549067377],[-0.48005129112565587,-2.0525574389523156]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_34","position":[-0.5218429020102856,-0.8105118546773016,0.71338606911949],"aabb_xy":[[-0.539342835444269,-0.828011854597536],[-0.5043429685763022,-0.7930118547570669]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6850506344915769,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1530.png","name":"1530"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1530.png","name":"1530"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4946.png","name":"4946"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2541.png","name":"2541"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4079.png","name":"4079"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/404.png","name":"404"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":781.0946301274706,"rotation_z_degrees":10.459746270544215,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004476171922372773,0.00600703853706995,0.00893175752873122]},{"name":"camera_2","offset_m":[-0.006357913085397633,-0.007492619835384193,0.0055654268153130515]},{"name":"camera_3","offset_m":[0.01828541143828877,0.009100120560623471,-0.00019765536925721305]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008892458083222881,0.000537221276025495,-0.00187890463004143],"end_effector_yaw_offset_degrees":0.18291273970021282},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014493702768519343,-0.0010228782070999375,0.0005793576409947091],"end_effector_yaw_offset_degrees":-0.3582056576321919},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015627706305723467,0.0018991899273997658,-0.0016166998431242931],"end_effector_yaw_offset_degrees":0.1071705998299306}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004161902925108198,0.0025261359141111],"position_m":[0.3499380970748918,-0.0814738640858889,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-6.208574886702126e-05,-0.004603770286121073],"position_m":[0.274537914251133,-0.33490377028612106,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0004034972916303293,0.00038339052043728436],"position_m":[0.16029650270836968,0.2145833905204373,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0001533770606280127,-0.004750585684751349],"position_m":[0.343946622939372,0.11044941431524864,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6781bb0af2a30441566fb1a90bd347b008d60809961269e6d9bc9046bd291a8d","episode_index":52,"episode_name":"episode_0052"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0052.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_1530/tex_ceiling_textures_404/tex_floor_textures_4079/tex_table_textures_4946/tex_wall_textures_2541","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":6635811927609931434,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":6635811927609931434,"visual_seed":6635811927609931434,"scene_id":"lab_003","finished_at":"2026-09-04T02:21:34"} +{"episode_id":"ep_000053","started_at":"2026-09-04T02:21:37","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_0","position":[-0.0675571758823047,-1.2803119498382582,0.71338606911949],"aabb_xy":[[-0.09804142600933484,-1.3303119496197542],[-0.03707292575527453,-1.2303119500567623]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_1","position":[0.6538334365862326,0.1295585761325917,0.71338606911949],"aabb_xy":[[0.646791985635485,0.12253182439479715],[0.6608748875369802,0.13658532787038624]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_2","position":[-0.43967585754250066,-0.6093740063728754,0.71338606911949],"aabb_xy":[[-0.5046758585430011,-0.6601603715275505],[-0.3746758565420001,-0.5585876412182006]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_3","position":[-0.36495068636601513,1.4411234006687512,0.71338606911949],"aabb_xy":[[-0.37782258986695527,1.3611234002549153],[-0.352078782865075,1.5211234010825876]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_4","position":[-0.29031598327643243,-2.3462330922361754,0.71338606911949],"aabb_xy":[[-0.30699311926952794,-2.3629330162101057],[-0.27363884728333693,-2.329533168262245]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_5","position":[0.49182675197796555,-1.8487257510635466,0.71338606911949],"aabb_xy":[[0.4696542250013147,-1.8709014182196697],[0.5139992789546164,-1.8265500839074231]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_6","position":[0.45569629035176096,-1.1124672749647753,0.71338606911949],"aabb_xy":[[0.448655980418224,-1.1924672743644469],[0.462736600285298,-1.032467275565104]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_7","position":[-0.20447411591929554,-1.8233131606047155,0.71338606911949],"aabb_xy":[[-0.2594741141210403,-1.863835127231153],[-0.14947411771755068,-1.782791193978278]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_8","position":[0.1900960694660051,0.5517922241370545,0.71338606911949],"aabb_xy":[[0.17873433481271894,0.5404237577307665],[0.20145780411929126,0.5631606905433426]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_9","position":[-0.39519952727855995,-0.9957054883771066,0.71338606911949],"aabb_xy":[[-0.39911340047398247,-1.0044545037836634],[-0.3912856540831374,-0.9869564729705498]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_10","position":[0.024368351216057182,1.7056386931418346,0.71338606911949],"aabb_xy":[[-0.02276102778577849,1.6416386920974324],[0.07149773021789285,1.7696386941862363]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_11","position":[0.6234685003615765,-1.1011932131218807,0.71338606911949],"aabb_xy":[[0.6009693646353496,-1.1236932139001434],[0.6459676360878035,-1.0786932123436175]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_12","position":[0.27810697856729893,0.9828094497973363,0.71338606911949],"aabb_xy":[[0.27466630232724176,0.9789480168229718],[0.2815476548073561,0.9866708827717008]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_13","position":[-0.1598328097665388,1.592096234360055,0.71338606911949],"aabb_xy":[[-0.1823328102785794,1.5696043759946565],[-0.1373328092544982,1.6145880927254532]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_14","position":[0.2322042628016393,1.3165322524197647,0.71338606911949],"aabb_xy":[[0.22349029375170476,1.2940322517605762],[0.24091823185157374,1.3390322530789527]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_15","position":[0.3205159890023719,1.4086356731217267,0.71338606911949],"aabb_xy":[[0.2893690701587888,1.3386356744349195],[0.35166290784595505,1.4786356718085338]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_16","position":[0.6696453446991091,-0.45888268473211635,0.71338606911949],"aabb_xy":[[0.6196453443385429,-0.5088626719417192],[0.719645345059675,-0.40890269752251335]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_17","position":[-0.4707572877952336,-0.7985132702502595,0.71338606911949],"aabb_xy":[[-0.5347572884987031,-0.8445316527231808],[-0.40675728709176434,-0.7524948877773388]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_18","position":[-0.6069618797374632,-2.3251282727088887,0.71338606911949],"aabb_xy":[[-0.6425910356374229,-2.3607609394657416],[-0.5713327238375034,-2.2894956059520357]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_19","position":[0.05582261305392078,1.282227254511839,0.71338606911949],"aabb_xy":[[0.031276397431170055,1.2519783579628019],[0.0803688286766715,1.312476151060876]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_20","position":[-0.37242663163917394,-2.4307747439687355,0.71338606911949],"aabb_xy":[[-0.3828381903196576,-2.4361204773046334],[-0.3620150729586902,-2.4254290106328367]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_21","position":[-0.4682422494627488,1.2962802091946282,0.71338606911949],"aabb_xy":[[-0.4986403605618923,1.2658733071929584],[-0.43784413836360514,1.3266871111962975]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_22","position":[-0.5127028821639233,-1.298122950867749,0.71338606911949],"aabb_xy":[[-0.6027028858408414,-1.3595553574448531],[-0.42270287848700505,-1.2366905442906444]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_23","position":[0.5789709402659651,0.02112097046281125,0.71338606911949],"aabb_xy":[[0.49397094157389043,-0.010864892932067608],[0.6639709389580397,0.053106833857690106]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_24","position":[-0.3453358211383534,-1.4600703153454042,0.71338606911949],"aabb_xy":[[-0.361397748596871,-1.5450703171579958],[-0.3292738936798357,-1.3750703135328122]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_25","position":[0.5335962650583275,-0.8033293029278004,0.71338606911949],"aabb_xy":[[0.45359626640144146,-0.817834161852063],[0.6135962637152135,-0.7888244440035375]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6802865089021918,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/677.png","name":"677"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/677.png","name":"677"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5435.png","name":"5435"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8795.png","name":"8795"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3611.png","name":"3611"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1569.png","name":"1569"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":847.3942383102251,"rotation_z_degrees":142.35097988288913,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015341870798805429,-0.008514416478763245,-0.010172348675626353]},{"name":"camera_2","offset_m":[-0.006775032793679929,-0.017442589901374976,-0.0193918950218513]},{"name":"camera_3","offset_m":[0.015617133829264818,0.0055832680413462135,0.0070357603678224585]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00043216391205946414,-0.0013717154416469004,-0.0019369945863698997],"end_effector_yaw_offset_degrees":0.7006113882400897},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013339535342823843,-0.0013422370677804905,0.0006798524463243892],"end_effector_yaw_offset_degrees":0.21305417742093224},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0003409530039119187,0.0005445408383243497,-0.0001673419037460798],"end_effector_yaw_offset_degrees":-0.4577044493054012}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0025918391417705865,-0.0003536933391522102],"position_m":[0.35150816085822945,-0.08435369333915221,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0020244768919023917,0.0016701108697453485],"position_m":[0.27257552310809763,-0.32862988913025465,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00044098448630290697,0.0003017343479864345],"position_m":[0.16114098448630293,0.21450173434798644,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004761638188180861,-0.0004930142552420462],"position_m":[0.33933836181181914,0.11470698574475795,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3f7e7023654224e4df9dd9ce401a3fb8ca5cb6d16453ea540c98cc221d5c9c35","episode_index":53,"episode_name":"episode_0053"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0053.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_677/tex_ceiling_textures_1569/tex_floor_textures_3611/tex_table_textures_5435/tex_wall_textures_8795","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":4140652284144579770,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":4140652284144579770,"visual_seed":4140652284144579770,"scene_id":"lab_003","finished_at":"2026-09-04T02:24:13"} +{"episode_id":"ep_000054","started_at":"2026-09-04T02:24:17","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_0","position":[-0.5038273416904858,-1.9868921219403157,0.71338606911949],"aabb_xy":[[-0.5488199284089362,-2.0318921212147645],[-0.4588347549720354,-1.9418921226658672]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_1","position":[-0.10056674809471089,-2.54461605420228,0.71338606911949],"aabb_xy":[[-0.11401327472875422,-2.558085905855371],[-0.08712022146066756,-2.531146202549188]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_2","position":[0.06247861643270025,-1.3217857272673914,0.71338606911949],"aabb_xy":[[0.04493192151658131,-1.3592857288316427],[0.08002531134881918,-1.2842857257031401]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_3","position":[0.593602010811914,-0.5857099342141168,0.71338606911949],"aabb_xy":[[0.5809752235247175,-0.5952560079156896],[0.6062287980991102,-0.5761638605125438]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_4","position":[0.2057179413315563,-0.5910862159515098,0.71338606911949],"aabb_xy":[[0.19830548579016782,-0.5969374263731377],[0.21313039687294477,-0.5852350055298818]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_5","position":[0.20788282914757605,-1.404800255750747,0.71338606911949],"aabb_xy":[[0.15788282812844082,-1.441266471488575],[0.2578828301667114,-1.3683340400129191]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_6","position":[0.11090371870349758,-1.958129537289838,0.71338606911949],"aabb_xy":[[0.04590371866919485,-2.0048302139701653],[0.1759037187378003,-1.9114288606095104]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_7","position":[-0.027217224926096795,1.6682074125675332,0.71338606911949],"aabb_xy":[[-0.11721722464927097,1.6451340600323532],[0.06278277479707738,1.6912807651027129]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_8","position":[0.5182604543397342,-1.282511732006354,0.71338606911949],"aabb_xy":[[0.4812263449116744,-1.316888939340063],[0.5552945637677938,-1.248134524672644]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_9","position":[-0.5244067142951667,-0.6911736107460262,0.71338606911949],"aabb_xy":[[-0.5489529299179173,-0.7214225072950632],[-0.49986049867241594,-0.6609247141969891]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_10","position":[0.2762012496610051,-0.8596764726684121,0.71338606911949],"aabb_xy":[[0.2458031385618615,-0.8900833746700815],[0.30659936076014865,-0.8292695706667425]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_11","position":[-0.6326740957127263,1.6778263969225944,0.71338606911949],"aabb_xy":[[-0.6525651355930666,1.6651705856378978],[-0.6127830558323861,1.6904822082072914]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_12","position":[-0.3824789656098758,0.4019394247034742,0.71338606911949],"aabb_xy":[[-0.3932519395312436,0.3669394264844352],[-0.37170599168850804,0.4369394229225132]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_13","position":[-0.05123783345821997,1.3950576324002175,0.71338606911949],"aabb_xy":[[-0.08686698935817971,1.3594249656433646],[-0.015608677558260231,1.4306902991570705]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_14","position":[-0.4028553837881087,-0.8958195872972785,0.71338606911949],"aabb_xy":[[-0.46685538519609937,-0.9476085388212032],[-0.33885538238011803,-0.8440306357733538]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_15","position":[-0.04807236176946983,1.574523824180416,0.71338606911949],"aabb_xy":[[-0.0705714974956968,1.5520238234021528],[-0.02557322604324285,1.5970238249586788]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_16","position":[0.6744293926303468,1.45977438410933,0.71338606911949],"aabb_xy":[[0.6699987632755067,1.4543260123746475],[0.678860021985187,1.4652227558440125]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_17","position":[-0.41655242415279803,1.043325074950788,0.71338606911949],"aabb_xy":[[-0.4378304322962703,0.978325072624715],[-0.3952744160093258,1.1083250772768611]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_18","position":[0.6364046560800785,-2.1417505699149553,0.71338606911949],"aabb_xy":[[0.6014046578099586,-2.1488246976099434],[0.6714046543501984,-2.134676442219967]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_19","position":[-0.6101388826173155,0.3925865377552187,0.71338606911949],"aabb_xy":[[-0.6215006172706017,0.3812180713489305],[-0.5987771479640294,0.40395500416150665]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_20","position":[-0.4018253912792624,-0.741581505924773,0.71338606911949],"aabb_xy":[[-0.41117239886155765,-0.755885128142417],[-0.3924783836969672,-0.727277883707129]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_21","position":[-0.17929422671152717,-2.1840539859831645,0.71338606911949],"aabb_xy":[[-0.2592942253684132,-2.1985588449074274],[-0.09929422805464116,-2.1695491270589016]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_22","position":[0.41328414282192427,-1.115521436240827,0.71338606911949],"aabb_xy":[[0.34928413953221615,-1.1588563552447444],[0.4772841461116324,-1.0721865172369092]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_23","position":[-0.3674724004796568,1.7147307803816552,0.71338606911949],"aabb_xy":[[-0.3737845000159952,1.7089638411284365],[-0.36116030094331836,1.7204977196348743]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_24","position":[0.2985176022937368,-1.907603493699162,0.71338606911949],"aabb_xy":[[0.29361830998717325,-1.9352804130017305],[0.30341689460030025,-1.879926574396593]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_25","position":[-0.5604681066791061,-0.083935944497469,0.71338606911949],"aabb_xy":[[-0.5677504230557695,-0.17393594810697796],[-0.5531857903024422,0.006064059112039998]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_26","position":[-0.2927289685680004,-1.4441298458404932,0.71338606911949],"aabb_xy":[[-0.3152289683819028,-1.448604462210974],[-0.270228968754098,-1.4396552294700125]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_27","position":[0.4310631091602415,0.3422512938170539,0.71338606911949],"aabb_xy":[[0.3510631121459935,0.3221167421436426],[0.5110631061744895,0.36238584549046515]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_28","position":[0.5646520080352402,-0.23605572862541768,0.71338606911949],"aabb_xy":[[0.5185669167805087,-0.3000557258779728],[0.6107370992899717,-0.17205573137286256]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_29","position":[0.1936105195662352,1.5196645404618567,0.71338606911949],"aabb_xy":[[0.1436105186157024,1.4881153934583353],[0.24361052051676801,1.5512136874653781]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_30","position":[0.5799819156477424,0.9399388770805617,0.71338606911949],"aabb_xy":[[0.5455195682496004,0.9054449946827389],[0.614444263045884,0.9744327594783843]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6799690217222543,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2995.png","name":"2995"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2995.png","name":"2995"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2336.png","name":"2336"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7384.png","name":"7384"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6516.png","name":"6516"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3893.png","name":"3893"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":736.0054330711075,"rotation_z_degrees":269.69429824618294,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006366534352210743,-0.0024651303041981903,0.01810224136005002]},{"name":"camera_2","offset_m":[-0.006678506685955288,0.015596782350458697,-0.017023753973305578]},{"name":"camera_3","offset_m":[-0.015526562271164588,-0.01883093241740555,-0.01173528150942425]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001628389471886047,0.001887575367790857,-0.00011324012409294243],"end_effector_yaw_offset_degrees":-0.9546429701094372},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[6.055361926633144e-05,-0.00040290353110809416,0.0004556585490879308],"end_effector_yaw_offset_degrees":-0.1293741246169018},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006196494448336943,-0.0015834793394321083,-0.0009646714866109419],"end_effector_yaw_offset_degrees":0.7797157314177781}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0030645930586511395,-0.0046838315352737215],"position_m":[0.35716459305865117,-0.08868383153527373,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0031913482222252496,0.0002175459146542824],"position_m":[0.27140865177777473,-0.3300824540853457,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002630882575039981,-0.0013066586825185712],"position_m":[0.16333088257504,0.21289334131748144,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001139033445101952,0.0037378093422162527],"position_m":[0.345239033445102,0.11893780934221625,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7c3bc42b5fa79f7d13178167bdd5b1aa68e11ba2df6d3c8988267e46e1f28777","episode_index":54,"episode_name":"episode_0054"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0054.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2995/tex_ceiling_textures_3893/tex_floor_textures_6516/tex_table_textures_2336/tex_wall_textures_7384","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":717338565590576214,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":717338565590576214,"visual_seed":717338565590576214,"scene_id":"lab_003","finished_at":"2026-09-04T02:26:57"} +{"episode_id":"ep_000055","started_at":"2026-09-04T02:27:00","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_0","position":[-0.655032407027346,-2.060153990437768,0.71338606911949],"aabb_xy":[[-0.6729015147818015,-2.0739868984149785],[-0.6371632992728905,-2.0463210824605564]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_1","position":[0.008854984055317039,-0.8909725893518259,0.71338606911949],"aabb_xy":[[-0.0254612931193009,-0.9409725893250036],[0.043171261229934976,-0.8409725893786482]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_2","position":[0.40493556248824714,-0.7786295435709887,0.71338606911949],"aabb_xy":[[0.3149355601542281,-0.8561118981561013],[0.4949355648222662,-0.701147188985876]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_3","position":[0.262809293359229,-1.1207301379110457,0.71338606911949],"aabb_xy":[[0.22631347273195024,-1.1572140803378033],[0.2993051139865077,-1.0842461954842881]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_4","position":[0.6114614039039667,-1.1130108976399224,0.71338606911949],"aabb_xy":[[0.6038371358137885,-1.1206441211764662],[0.619085671994145,-1.1053776741033787]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_5","position":[0.33797091225420406,-2.0709853565969016,0.71338606911949],"aabb_xy":[[0.33155709861101906,-2.0773951768445698],[0.34438472589738894,-2.0645755363492326]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_6","position":[0.24815541042537925,0.8530396556247379,0.71338606911949],"aabb_xy":[[0.24111395947463166,0.8460129038869435],[0.25519686137612685,0.8600664073625326]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_7","position":[-0.28844471640176134,1.166431930857918,0.71338606911949],"aabb_xy":[[-0.2964387049794648,1.1584318507628277],[-0.280450727824058,1.1744320109530084]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_8","position":[-0.31198938100329443,0.11704453131905224,0.71338606911949],"aabb_xy":[[-0.3168886733098579,0.08936761201648347],[-0.30709008869673093,0.144721450621621]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_9","position":[-0.6388744721617352,-0.6337642453319055,0.71338606911949],"aabb_xy":[[-0.6841530870428844,-0.6977642446800892],[-0.5935958572805858,-0.5697642459837219]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_10","position":[0.3575781048219171,1.582746595951337,0.71338606911949],"aabb_xy":[[0.2875781021853307,1.5626417309554714],[0.4275781074585034,1.6028514609472024]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_11","position":[0.655379433245407,-0.5133988259728994,0.71338606911949],"aabb_xy":[[0.6328794337216995,-0.5358947734235201],[0.6778794327691143,-0.4909028785222786]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_12","position":[-0.5271739157931961,0.07099942637997447,0.71338606911949],"aabb_xy":[[-0.5380255220420715,0.06014013565232347],[-0.5163223095443203,0.0818587171076255]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_13","position":[0.016519940352499818,0.7471788132178343,0.71338606911949],"aabb_xy":[[-0.03346429535567741,0.6971788144043386],[0.06650417606067704,0.7971788120313298]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_14","position":[0.5823928623600823,0.9291127378950064,0.71338606911949],"aabb_xy":[[0.554063152411542,0.9246519957012894],[0.6107225723086225,0.9335734800887235]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_15","position":[-0.43903565452500704,-1.0707721485464843,0.71338606911949],"aabb_xy":[[-0.47653565481718185,-1.0748136239470878],[-0.4015356542328322,-1.0667306731458808]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_16","position":[-0.651054680573601,-0.8866278680895221,0.71338606911949],"aabb_xy":[[-0.6885546813655964,-0.8929957090477121],[-0.6135546797816055,-0.8802600271313319]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_17","position":[-0.4854082990974683,1.5106594845067192,0.71338606911949],"aabb_xy":[[-0.49362284421315217,1.5019828942090778],[-0.4771937539817842,1.5193360748043605]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_18","position":[0.14033825131849964,-1.2265721914574248,0.71338606911949],"aabb_xy":[[0.13263506064442257,-1.2342815621561627],[0.14804144199257666,-1.218862820758687]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_19","position":[-0.6194170917089095,-0.9536751309657987,0.71338606911949],"aabb_xy":[[-0.6282191470178821,-0.9614864571207276],[-0.6106150363999366,-0.9458638048108694]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_20","position":[-0.054630466338307704,0.21915538343228302,0.71338606911949],"aabb_xy":[[-0.0921304675231005,0.21473716073622248],[-0.01713046515351491,0.22357360612834357]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_21","position":[-0.05629480019254063,1.3904298735719585,0.71338606911949],"aabb_xy":[[-0.1162948007885568,1.3356174010267352],[0.0037052004034755504,1.4452423461171822]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_22","position":[-0.6706871668127316,1.1978345411618654,0.71338606911949],"aabb_xy":[[-0.6881871670720682,1.183742998973093],[-0.6531871665533949,1.2119260833506382]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_23","position":[-0.018507428876165855,1.2206502337981924,0.71338606911949],"aabb_xy":[[-0.06850743016000581,1.17067137940757],[0.031492572407674106,1.2706290881888143]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_24","position":[-0.6214385649725825,0.008682323578681928,0.71338606911949],"aabb_xy":[[-0.658938564916349,0.0003892335438453465],[-0.5839385650288161,0.01697541361351851]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_25","position":[-0.19663930367289978,0.3030374041143933,0.71338606911949],"aabb_xy":[[-0.2057991826167764,0.2965061860708563],[-0.1874794247290232,0.30956862215793035]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_26","position":[-0.2748797164898809,0.5973341961761647,0.71338606911949],"aabb_xy":[[-0.35860194198996337,0.5073341926414687],[-0.19115749098979845,0.6873341997108606]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6868083154135073,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8422.png","name":"8422"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8422.png","name":"8422"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9900.png","name":"9900"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4021.png","name":"4021"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9711.png","name":"9711"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3958.png","name":"3958"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":582.9922627264338,"rotation_z_degrees":245.4261496886877,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006587996016210008,-0.007944080973586254,0.0189187781056615]},{"name":"camera_2","offset_m":[-0.002826583790480567,-0.006443623715796437,-0.006504836839428827]},{"name":"camera_3","offset_m":[0.015313555747957074,-0.0023893695677702186,0.014962744575746308]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008266657137931789,0.0005368473947748031,-0.001984482472613076],"end_effector_yaw_offset_degrees":-0.10788076934053281},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013794818929270336,-0.001953949299958993,-0.0007092629811087342],"end_effector_yaw_offset_degrees":0.9836325368520096},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009388994173571846,-0.0003821750645943377,0.0015405933528788696],"end_effector_yaw_offset_degrees":-0.3715253097816842}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0007452555454903311,0.003148964822310166],"position_m":[0.3533547444545097,-0.08085103517768984,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0034703771551446794,-0.001870699508053266],"position_m":[0.2780703771551447,-0.3321706995080532,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0010424338832658898,0.001845138127501142],"position_m":[0.15965756611673412,0.21604513812750115,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0015979666914485656,-0.0005068850209863206],"position_m":[0.34250203330855145,0.11469311497901367,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2115381b6bdd1345ef9928905f68746ae996b6409cbc5054918151c5848ad6e1","episode_index":55,"episode_name":"episode_0055"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0055.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_8422/tex_ceiling_textures_3958/tex_floor_textures_9711/tex_table_textures_9900/tex_wall_textures_4021","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":9139394345208897191,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":9139394345208897191,"visual_seed":9139394345208897191,"scene_id":"lab_003","finished_at":"2026-09-04T02:29:38"} +{"episode_id":"ep_000056","started_at":"2026-09-04T02:29:41","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_0","position":[0.6314803365951882,-0.10153740036232639,0.71338606911949],"aabb_xy":[[0.5674803333765503,-0.14826051226133474],[0.6954803398138261,-0.05481428846331805]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_1","position":[0.455733198834799,1.1609872699475714,0.71338606911949],"aabb_xy":[[0.4207331974833173,1.1406275339907506],[0.49073320018628075,1.1813470059043922]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_2","position":[-0.13135235471725215,-2.2351637001993203,0.71338606911949],"aabb_xy":[[-0.1663523530279476,-2.242878715122866],[-0.0963523564065567,-2.2274486852757747]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_3","position":[-0.2138269753962585,1.5640565764519994,0.71338606911949],"aabb_xy":[[-0.2778269756567293,1.5190477770990714],[-0.1498269751357877,1.6090653758049274]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_4","position":[0.5272717767215815,1.3472431534826814,0.71338606911949],"aabb_xy":[[0.5009829524011408,1.32097171982803],[0.5535606010420221,1.3735145871373324]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_5","position":[-0.0837617661236314,0.14582480331784886,0.71338606911949],"aabb_xy":[[-0.13376176648419744,0.0958448161082459],[-0.033761765763065325,0.19580479052745178]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_6","position":[0.29502475208237167,1.451029005557793,0.71338606911949],"aabb_xy":[[0.28710147184362333,1.4285290053197897],[0.30294803232112,1.4735290057957964]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_7","position":[-0.47494576759819723,1.4483633460157361,0.71338606911949],"aabb_xy":[[-0.5249457689590844,1.3983854414403205],[-0.42494576623731,1.4983412505911518]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_8","position":[0.41405683886507116,-2.304785225790948,0.71338606911949],"aabb_xy":[[0.3765568383677129,-2.3087539093390665],[0.4515568393624294,-2.3008165422428295]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_9","position":[-0.48527009359104867,-1.0649932702628921,0.71338606911949],"aabb_xy":[[-0.5652700946641689,-1.0747713166002766],[-0.4052700925179283,-1.0552152239255077]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_10","position":[-0.3868008601198097,-1.3718960340969177,0.71338606911949],"aabb_xy":[[-0.4518008611203102,-1.4226823992515925],[-0.32180085911930917,-1.3211096689422426]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_11","position":[-0.2908284361220845,-0.47969570374980686,0.71338606911949],"aabb_xy":[[-0.340805852987338,-0.5296957052390553],[-0.24085101925683086,-0.42969570226055825]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_12","position":[0.5558289988773937,0.6796721953742546,0.71338606911949],"aabb_xy":[[0.46614192256927833,0.589672195119804],[0.6455160751855092,0.769672195628705]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_13","position":[-0.24909473264759935,-1.0232674932773782,0.71338606911949],"aabb_xy":[[-0.29039927571133534,-1.0872674928454953],[-0.20779018958386336,-0.9592674937092611]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_14","position":[-0.5806111613907671,-1.635884080789892,0.71338606911949],"aabb_xy":[[-0.5871127978987717,-1.6456519028162018],[-0.5741095248827625,-1.6261162587635822]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_15","position":[0.1846188781859054,1.6175197939877815,0.71338606911949],"aabb_xy":[[0.14711887824213896,1.6092267039529449],[0.22211887812967177,1.625812884022618]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_16","position":[-0.24447332150320933,1.239332119765307,0.71338606911949],"aabb_xy":[[-0.2944466155064697,1.1893321192107595],[-0.19450002749994882,1.2893321203198542]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_17","position":[0.42840159797645083,1.4930179768407164,0.71338606911949],"aabb_xy":[[0.36440159868228256,1.4290318364718622],[0.492401597270619,1.5570041172095705]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_18","position":[-0.50751713050896,0.2719996644924252,0.71338606911949],"aabb_xy":[[-0.5114776142786943,0.2643317999069046],[-0.5035566467392256,0.2796675290779458]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_19","position":[-0.4614647182118984,0.6811781525668055,0.71338606911949],"aabb_xy":[[-0.5254647154975471,0.6396714336139614],[-0.3974647209262498,0.7226848715196493]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_20","position":[0.4154170212275152,-0.6776756367128272,0.71338606911949],"aabb_xy":[[0.4073907505968893,-0.6864271316901799],[0.4234432918581413,-0.6689241417354747]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_21","position":[-0.4160293032860873,-2.2321257470510196,0.71338606911949],"aabb_xy":[[-0.4660081117964031,-2.2821257470567384],[-0.36605049477577134,-2.182125747045301]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_22","position":[-0.4918483528589539,0.3677744087474686,0.71338606911949],"aabb_xy":[[-0.5204976852193701,0.33912884947039273],[-0.4631990204985377,0.3964199680245443]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_23","position":[0.6305146027448036,-0.552957016139489,0.71338606911949],"aabb_xy":[[0.6251770270787991,-0.5779570170686288],[0.6358521784108082,-0.5279570152103492]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_24","position":[-0.5627586342441011,0.9184922521643211,0.71338606911949],"aabb_xy":[[-0.5714565965348164,0.9063672778568465],[-0.5540606719533858,0.9306172264717959]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_25","position":[-0.292189442110033,1.0063245949509096,0.71338606911949],"aabb_xy":[[-0.356189444159765,0.9662301118616017],[-0.228189440060301,1.0464190780402176]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_26","position":[-0.16962572518501207,-2.060164313442057,0.71338606911949],"aabb_xy":[[-0.2336257254589903,-2.110230413639345],[-0.10562572491103384,-2.010098213244769]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_27","position":[0.13191002944070496,-2.395994276227329,0.71338606911949],"aabb_xy":[[0.11002028185176414,-2.485994273516578],[0.15379977702964573,-2.30599427893808]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_28","position":[0.021960245828019365,-2.0628021223920876,0.71338606911949],"aabb_xy":[[0.017844295715946697,-2.0669176774249327],[0.026076195940092025,-2.0586865673592416]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_29","position":[0.6118960544253396,1.0584365739440762,0.71338606911949],"aabb_xy":[[0.6011230805039719,1.0234365757250372],[0.6226690283467075,1.0934365721631152]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_30","position":[0.1811528691758978,0.6923651554141053,0.71338606911949],"aabb_xy":[[0.13615286770966897,0.6473652985526246],[0.2261528706421267,0.7373650122755859]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_31","position":[0.054688575160326214,-0.9613986821891733,0.71338606911949],"aabb_xy":[[0.03440427243692745,-0.981681307331882],[0.07497287788372498,-0.9411160570464643]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_32","position":[0.44316491361870924,-2.465171271279185,0.71338606911949],"aabb_xy":[[0.3931700806907677,-2.5151712701744287],[0.4931597465466509,-2.4151712723839416]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6864446215906072,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3572.png","name":"3572"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3572.png","name":"3572"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/942.png","name":"942"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3310.png","name":"3310"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9797.png","name":"9797"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2837.png","name":"2837"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":726.4632446831538,"rotation_z_degrees":345.5742437026372,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010643914455488814,0.019718648688233132,-0.018507021820511088]},{"name":"camera_2","offset_m":[-0.0003727405984721016,-0.0058944175139169636,-0.0011256108964556692]},{"name":"camera_3","offset_m":[0.010623667711099162,-0.008822766339498167,0.0003630640376674557]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0013745578838982202,0.001348011331547091,0.001368445094036469],"end_effector_yaw_offset_degrees":-0.4238568333944255},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007324345934537088,0.0012989030609174908,-0.00172197250004943],"end_effector_yaw_offset_degrees":0.00961368803921947},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00024328729972446055,0.00031324899337342943,-0.0018591125119227301],"end_effector_yaw_offset_degrees":0.3209466475062135}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0018289445766524704,0.00048671428288672106],"position_m":[0.3559289445766525,-0.08351328571711328,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004479335715636609,0.0007185803431312369],"position_m":[0.27907933571563664,-0.32958141965686877,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0012143288026695777,-0.0011463811664372148],"position_m":[0.15948567119733043,0.21305361883356277,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004708765248623348,-0.004697703749046037],"position_m":[0.33939123475137667,0.11050229625095397,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1c369016992d251e1157131cf9a060b66a7005617ea3bae820835acc0009f8e0","episode_index":56,"episode_name":"episode_0056"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0056.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_3572/tex_ceiling_textures_2837/tex_floor_textures_9797/tex_table_textures_942/tex_wall_textures_3310","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":7330498925031594012,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":7330498925031594012,"visual_seed":7330498925031594012,"scene_id":"lab_003","finished_at":"2026-09-04T02:32:28"} +{"episode_id":"ep_000057","started_at":"2026-09-04T02:32:31","dimensions":{"distractor":{"count":20,"items":[{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_0","position":[0.44680365552100465,0.36825257309680604,0.71338606911949],"aabb_xy":[[0.4290101485860882,0.35045282750100837],[0.4645971624559211,0.3860523186926037]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_1","position":[0.0583503061672247,-2.4369314511511817,0.71338606911949],"aabb_xy":[[0.05301273050122013,-2.4619314520803215],[0.06368788183322927,-2.411931450222042]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_2","position":[-0.12646380663959444,-0.8943783525353601,0.71338606911949],"aabb_xy":[[-0.19046380886000147,-0.9387514366606484],[-0.06246380441918742,-0.8500052684100718]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_3","position":[0.4987440998860908,0.8547458322034092,0.71338606911949],"aabb_xy":[[0.46834598878694716,0.8243389302017395],[0.5291422109852343,0.8851527342050786]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_4","position":[-0.3328019568474337,-0.1052299421431111,0.71338606911949],"aabb_xy":[[-0.3678019568239295,-0.11469455819072771],[-0.29780195687093786,-0.09576532609549449]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_5","position":[0.3875367091017139,-1.8917459538665544,0.71338606911949],"aabb_xy":[[0.35888737674129767,-1.92039151314363],[0.4161860414621301,-1.8631003945894784]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_6","position":[0.39134118730087475,1.5041270504534512,0.71338606911949],"aabb_xy":[[0.38092962862039104,1.4987813171175524],[0.40175274598135846,1.5094727837893491]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_7","position":[-0.43060221969711165,0.6044468949283615,0.71338606911949],"aabb_xy":[[-0.4806996836781852,0.5404468944185497],[-0.380504755716038,0.6684468954381733]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_8","position":[0.471044946920828,1.18950993145002,0.71338606911949],"aabb_xy":[[0.46380118087458266,1.1095099332464176],[0.4782887129670733,1.2695099296536223]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_9","position":[0.5694214856173525,1.2034234473542402,0.71338606911949],"aabb_xy":[[0.5607075165674179,1.1809234466950516],[0.5781354546672869,1.225923448013428]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_10","position":[-0.5768186720462983,-2.023289155602366,0.71338606911949],"aabb_xy":[[-0.5821511867009113,-2.028613483847602],[-0.5714861573916854,-2.0179648273571305]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_11","position":[-0.6276983719453143,1.6496947349931985,0.71338606911949],"aabb_xy":[[-0.6408496179166038,1.6246947352365122],[-0.614547125974025,1.6746947347498853]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_12","position":[0.5575406564799517,-2.3467451632763874,0.71338606911949],"aabb_xy":[[0.5165227130935808,-2.3967451639073447],[0.5985585998663225,-2.29674516264543]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_13","position":[-0.4021253649736612,0.8307020885601966,0.71338606911949],"aabb_xy":[[-0.4109274202826339,0.8228907624052675],[-0.3933233096646885,0.8385134147151256]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_14","position":[0.4746028688483812,0.06183894451823502,0.71338606911949],"aabb_xy":[[0.4527131212594404,-0.02816105277101409],[0.496492616437322,0.15183894180748414]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_15","position":[0.32122175212253956,1.1978264975580069,0.71338606911949],"aabb_xy":[[0.2572217489039017,1.1511033856589985],[0.3852217553411774,1.2445496094570152]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_16","position":[-0.38930748863219655,-1.6130892984683678,0.71338606911949],"aabb_xy":[[-0.4392862971425124,-1.6630892984740864],[-0.3393286801218806,-1.5630892984626488]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_17","position":[0.6300229552082068,0.05401731552036315,0.71338606911949],"aabb_xy":[[0.5650229542510796,0.002069103586657579],[0.695022956165334,0.10596552745406873]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_18","position":[0.6638012289665423,-2.0267476349669007,0.71338606911949],"aabb_xy":[[0.6088275069302094,-2.081747634531134],[0.7187749510028751,-1.9717476354026675]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_19","position":[-0.11394178994558413,0.5962069232974168,0.71338606911949],"aabb_xy":[[-0.13894178911121724,0.5892546775920602],[-0.08894179077995103,0.6031591690027733]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6872646747101718,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6119.png","name":"6119"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6119.png","name":"6119"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3505.png","name":"3505"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5347.png","name":"5347"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3581.png","name":"3581"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1479.png","name":"1479"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":813.3748953225197,"rotation_z_degrees":342.8147239145017,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008877480684536674,-0.009801931165057783,0.009187943032823796]},{"name":"camera_2","offset_m":[0.015737026497728155,0.009988467340206572,0.012039287914380418]},{"name":"camera_3","offset_m":[-0.010762104549853607,-0.0069756280692352,-0.0036048054750745136]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015046823477102688,-0.0008734259109478369,0.00041423329361420886],"end_effector_yaw_offset_degrees":0.2800410364436914},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012577225221424224,-0.0012720718117283873,-0.0004447897338818677],"end_effector_yaw_offset_degrees":-0.978565647654273},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014888752193991462,-0.00034704786674899773,-0.00013289567361519255],"end_effector_yaw_offset_degrees":0.9706474558077867}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004787147204062642,0.0033377133198229875],"position_m":[0.3493128527959374,-0.08066228668017701,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003475671480288858,-0.002803684727574525],"position_m":[0.2780756714802889,-0.3331036847275745,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0010909022983295888,-0.003981071023632441],"position_m":[0.1617909022983296,0.21021892897636757,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004549277898897366,0.004820518799345259],"position_m":[0.3486492778988974,0.12002051879934525,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f584093d6381771a0b222e2f0b5e1b19d676105e0ade81602cf9ac25af683996","episode_index":57,"episode_name":"episode_0057"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0057.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_6119/tex_ceiling_textures_1479/tex_floor_textures_3581/tex_table_textures_3505/tex_wall_textures_5347","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":4330911211212066935,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":4330911211212066935,"visual_seed":4330911211212066935,"scene_id":"lab_003","finished_at":"2026-09-04T02:35:14"} +{"episode_id":"ep_000058","started_at":"2026-09-04T02:35:17","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_0","position":[0.35603245244389226,0.8735726800097439,0.71338606911949],"aabb_xy":[[0.3260648955340666,0.8435726797118582],[0.3860000093537179,0.9035726803076297]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_1","position":[-0.567492710072671,-2.0400515628964175,0.71338606911949],"aabb_xy":[[-0.6174927113565108,-2.090030417287039],[-0.5174927087888309,-1.9900727085057952]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_2","position":[-0.49968285246966393,1.1429289061219525,0.71338606911949],"aabb_xy":[[-0.5596828541125858,1.0909287568300086],[-0.4396828508267421,1.194929055413897]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_3","position":[-0.6181743632118019,-1.2937514130762546,0.71338606911949],"aabb_xy":[[-0.6731743614135466,-1.3342733797026922],[-0.5631743650100569,-1.253229446449817]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_4","position":[-0.36223871869840013,-0.3652864251668815,0.71338606911949],"aabb_xy":[[-0.42723871658004803,-0.4164100888734224],[-0.2972387208167524,-0.3141627614603406]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_5","position":[-0.08458607701339738,-1.452591259281321,0.71338606911949],"aabb_xy":[[-0.10213277192951631,-1.490091260845572],[-0.06703938209727844,-1.4150912577170696]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_6","position":[0.13003920461873109,-2.2673093128592763,0.71338606911949],"aabb_xy":[[0.07003920375791824,-2.3187357428657625],[0.19003920547954384,-2.2158828828527892]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_7","position":[0.299649436554308,-2.3006194766760015,0.71338606911949],"aabb_xy":[[0.29030242897201275,-2.3149230988936456],[0.3089964441366032,-2.2863158544583575]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_8","position":[0.21935833701631846,-1.4629055538335503,0.71338606911949],"aabb_xy":[[0.2017800348273716,-1.4804800434076553],[0.2369366392052653,-1.4453310642594452]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_9","position":[-0.37534840864287017,1.8045898203448494,0.71338606911949],"aabb_xy":[[-0.3806859843088748,1.7795898194157096],[-0.37001083297686566,1.8295898212739892]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_10","position":[0.5821786828880584,0.7375550410861353,0.71338606911949],"aabb_xy":[[0.5765970112539296,0.7250550412683598],[0.5877603545221872,0.7500550409039108]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_11","position":[0.032234320806047045,1.0937066220081397,0.71338606911949],"aabb_xy":[[-0.01776568055484017,1.0437287174327239],[0.08223432216693427,1.1436845265835551]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_12","position":[-0.3061021016911368,1.1689321790546896,0.71338606911949],"aabb_xy":[[-0.38610210495514985,1.1553721467457763],[-0.2261020984271236,1.182492211363603]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_13","position":[-0.46429613355861593,0.5303220274442384,0.71338606911949],"aabb_xy":[[-0.4803580610171336,0.4453220256316465],[-0.4482342061000983,0.6153220292568301]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_14","position":[-0.5067343396964515,0.3530903637899834,0.71338606911949],"aabb_xy":[[-0.5132359762044563,0.3433225417636736],[-0.500232703188447,0.36285818581629314]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_15","position":[-0.5816020217460076,0.29072736451512116,0.71338606911949],"aabb_xy":[[-0.6041011574722345,0.2682273637368582],[-0.5591028860197805,0.31322736529338413]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_16","position":[0.0506764836718252,1.4867612452836654,0.71338606911949],"aabb_xy":[[0.033574405713457045,1.4696544397523958],[0.06777856163019336,1.5038680508149354]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_17","position":[-0.529776046370156,-0.7235216836970573,0.71338606911949],"aabb_xy":[[-0.5796587432478522,-0.7735216829433321],[-0.47989334949245976,-0.6735216844507825]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_18","position":[0.35818859297562233,-1.1573884083952783,0.71338606911949],"aabb_xy":[[0.34803557742147284,-1.1934579499680182],[0.3683416085297716,-1.1213188668225376]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_19","position":[-0.43402977484595284,-0.5440906581222937,0.71338606911949],"aabb_xy":[[-0.4445972545040518,-0.5546356882353023],[-0.4234622951878538,-0.5335456280092852]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_20","position":[0.615469523119325,1.6034937228124853,0.71338606911949],"aabb_xy":[[0.5779695233022913,1.5988555115013434],[0.6529695229363585,1.608131934123627]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_21","position":[0.6180850969495604,-2.3501666519889266,0.71338606911949],"aabb_xy":[[0.6131858046429968,-2.3778435712914945],[0.6229843892561238,-2.322489732686357]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_22","position":[-0.21387254011303425,-1.166922716600394,0.71338606911949],"aabb_xy":[[-0.277872540373505,-1.211931515953322],[-0.1498725398525634,-1.121913917247466]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_23","position":[-0.4256385947004229,1.0219376868304542,0.71338606911949],"aabb_xy":[[-0.4430693097794293,1.0046655721666031],[-0.4082078796214163,1.0392098014943048]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_24","position":[0.23722292517388466,1.5166642834902544,0.71338606911949],"aabb_xy":[[0.20607600633030154,1.446664284803447],[0.2683698440174678,1.5866642821770613]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_25","position":[-0.5522015220383476,-0.04792855450984623,0.71338606911949],"aabb_xy":[[-0.6322015206952336,-0.06243341343410902],[-0.4722015233814616,-0.033423695585583446]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_26","position":[0.09611188859533493,-0.6740748421599703,0.71338606911949],"aabb_xy":[[0.05861188830316011,-0.6781163175605738],[0.13361188888750974,-0.6700333667593665]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_27","position":[0.5764461208112892,-2.518332158704107,0.71338606911949],"aabb_xy":[[0.512446120537311,-2.568398258901395],[0.6404461210852674,-2.4682660585068192]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_28","position":[-0.36610640998624094,1.487482153397171,0.71338606911949],"aabb_xy":[[-0.4561064097094151,1.4644088008619909],[-0.2761064102630667,1.5105555059323506]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_29","position":[-0.3129011357255384,-0.9394128847003576,0.71338606911949],"aabb_xy":[[-0.37790113575984113,-0.9861135613806847],[-0.24790113569123567,-0.8927122080200302]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_30","position":[0.5706387036002369,1.2052454961675934,0.71338606911949],"aabb_xy":[[0.5208219241354022,1.15524549768329],[0.6204554830650717,1.2552454946518967]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_31","position":[-0.0877248046517074,-2.3923661440140673,0.71338606911949],"aabb_xy":[[-0.15272480320878024,-2.4221186774279495],[-0.022724806094634564,-2.3626136106001843]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6773192684602565,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6527.png","name":"6527"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6527.png","name":"6527"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1665.png","name":"1665"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7712.png","name":"7712"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/949.png","name":"949"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3169.png","name":"3169"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":685.736562784137,"rotation_z_degrees":244.23438978522375,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016059435826581724,0.006943630286897835,0.002468910319260189]},{"name":"camera_2","offset_m":[-0.009592263923045326,-0.015078363319532367,0.005253910192128661]},{"name":"camera_3","offset_m":[-0.007071345313199142,-0.001053758144908136,0.010401495962627707]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019421680322879355,0.0002620047959506458,0.0014826490491095458],"end_effector_yaw_offset_degrees":-0.513567240792399},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[2.1669793929170438e-05,-0.0011240304381764843,-0.0006847510762545057],"end_effector_yaw_offset_degrees":-0.7883455170532869},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017767240463638025,0.00132354999185325,0.001937938881925642],"end_effector_yaw_offset_degrees":-0.040804267426765906}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0029392868617715583,-0.001986782280327634],"position_m":[0.35116071313822844,-0.08598678228032763,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004582990881221188,0.003175183959016242],"position_m":[0.2700170091187788,-0.32712481604098376,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004862129723271734,-0.002920148453901945],"position_m":[0.15583787027672827,0.21127985154609805,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0005417675276340106,-0.0046652874747895],"position_m":[0.343558232472366,0.1105347125252105,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6c4358dfcbd24c09db71a93feb88eef849327ac31262542fddc32d99e7549660","episode_index":58,"episode_name":"episode_0058"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0058.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_6527/tex_ceiling_textures_3169/tex_floor_textures_949/tex_table_textures_1665/tex_wall_textures_7712","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":5713349475387987181,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":5713349475387987181,"visual_seed":5713349475387987181,"scene_id":"lab_003","finished_at":"2026-09-04T02:38:08"} +{"episode_id":"ep_000059","started_at":"2026-09-04T02:38:11","dimensions":{"distractor":{"count":32,"items":[{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_0","position":[0.07226176915320937,1.0127840630210372,0.71338606911949],"aabb_xy":[[0.03796485813546873,0.9784871768110956],[0.10655868017094998,1.0470809492309783]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_1","position":[-0.584905636727502,0.30843485432770024,0.71338606911949],"aabb_xy":[[-0.6101264735873415,0.28321110347481343],[-0.5596847998676622,0.33365860518058693]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_2","position":[0.06032947666066457,-1.0435685851209804,0.71338606911949],"aabb_xy":[[0.010334465701212535,-1.093568584156572],[0.11032448762011661,-0.9935685860853887]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_3","position":[0.18800420938697848,1.51786338113615,0.71338606911949],"aabb_xy":[[0.1728413364100414,1.5026979238410314],[0.2031670823639156,1.533028838431269]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_4","position":[0.31293659961053577,1.6261402359026822,0.71338606911949],"aabb_xy":[[0.2846068896619956,1.6216794937089651],[0.34126630955907605,1.6306009780963993]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_5","position":[-0.1880660380146547,0.7762077244616918,0.71338606911949],"aabb_xy":[[-0.1951074889654023,0.7691809727238973],[-0.18102458706390712,0.7832344761994864]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_6","position":[-0.10954380563012311,-2.45504126451968,0.71338606911949],"aabb_xy":[[-0.13204294135635009,-2.477541265297943],[-0.08704466990389614,-2.4325412637414168]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_7","position":[-0.1773079799645938,1.2987903027813732,0.71338606911949],"aabb_xy":[[-0.20114419760519892,1.2087903019728867],[-0.15347176232398876,1.3887903035898597]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_8","position":[-0.13326192683164306,-1.2621019378256193,0.71338606911949],"aabb_xy":[[-0.14403490075301084,-1.2971019360446585],[-0.12248895291027528,-1.2271019396065805]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_9","position":[-0.6598754346619963,-1.239459131440507,0.71338606911949],"aabb_xy":[[-0.6861642589824367,-1.265730565095158],[-0.6335866103415554,-1.2131876977858556]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_10","position":[-0.3402781950832247,0.051466344697518096,0.71338606911949],"aabb_xy":[[-0.348201475321973,0.028966344459514744],[-0.3323549148444763,0.07396634493552146]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_11","position":[0.606691288729565,0.5384641432553896,0.71338606911949],"aabb_xy":[[0.6017919964230015,0.5107872239528207],[0.6115905810361285,0.5661410625579583]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_12","position":[0.5533444426235954,-2.1831011528473296,0.71338606911949],"aabb_xy":[[0.5283444433516331,-2.1994465164434915],[0.5783444418955577,-2.166755789251167]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_13","position":[0.5667091281142109,-2.4501187422551354,0.71338606911949],"aabb_xy":[[0.5538372246132708,-2.5301187426689715],[0.5795810316151511,-2.3701187418412992]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_14","position":[0.09933395571061965,1.7158108390361506,0.71338606911949],"aabb_xy":[[0.09283231920261502,1.706043017009841],[0.10583559221862426,1.7255786610624606]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_15","position":[-0.3521131623963096,1.3674707019178922,0.71338606911949],"aabb_xy":[[-0.40209057926156316,1.3174707004286437],[-0.302135745531056,1.4174707034071408]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_16","position":[-0.6345909857232058,-0.06036063913397127,0.71338606911949],"aabb_xy":[[-0.6570909857333541,-0.07445685877357455],[-0.6120909857130575,-0.04626441949436799]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_17","position":[0.47283406668374983,1.3262530962822296,0.71338606911949],"aabb_xy":[[0.417841816048239,1.2712530945389169],[0.5278263173192609,1.3812530980255424]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_18","position":[0.002646502099547976,-0.8340804495214837,0.71338606911949],"aabb_xy":[[-0.01924324548939282,-0.9240804468107329],[0.024536249688488772,-0.7440804522322346]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_19","position":[0.3138518093156826,-0.8595907421427764,0.71338606911949],"aabb_xy":[[0.24985180790769188,-0.911379693666701],[0.3778518107236732,-0.8078017906188516]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_20","position":[-0.08830772036563639,1.4522499606121682,0.71338606911949],"aabb_xy":[[-0.10091041950271284,1.4396545643873029],[-0.07570502122855993,1.4648453568370339]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_21","position":[-0.08293692071807401,-0.5834801693600107,0.71338606911949],"aabb_xy":[[-0.12148261354327505,-0.6220259404161993],[-0.04439122789287298,-0.5449343983038221]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_22","position":[0.21694256861967232,1.2542523850769283,0.71338606911949],"aabb_xy":[[0.16694256695817752,1.2042539428212253],[0.266942570281167,1.3042508273326308]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_23","position":[-0.04523283913700371,-1.874755341187071,0.71338606911949],"aabb_xy":[[-0.09924843541890371,-1.9387553440793281],[0.008782757144896298,-1.8107553382948138]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_24","position":[0.1989653943871852,-1.4559550222648079,0.71338606911949],"aabb_xy":[[0.1089653949688143,-1.4893305191089974],[0.2889653938055561,-1.422579525420618]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_25","position":[0.28575964680371513,-1.199416461928777,0.71338606911949],"aabb_xy":[[0.24926382617643633,-1.2359004043555344],[0.3222554674309938,-1.1629325195020193]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_26","position":[-0.37432905562559404,-0.6331266203606987,0.71338606911949],"aabb_xy":[[-0.45432287920415226,-0.7131266229535403],[-0.2943352320470358,-0.5531266177678572]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_27","position":[0.07212337563766058,-1.1804930914180112,0.71338606911949],"aabb_xy":[[0.02712337417143173,-1.225492948279492],[0.11712337710388944,-1.1354932345565307]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_28","position":[-0.43353396550706524,-2.196618378365224,0.71338606911949],"aabb_xy":[[-0.5135339626666404,-2.208165979323041],[-0.3535339683474899,-2.185070777407407]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_29","position":[-0.5564327997528856,-1.9192835246133453,0.71338606911949],"aabb_xy":[[-0.5651307620436009,-1.93140849892082],[-0.5477348374621703,-1.9071585503058706]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_30","position":[0.5722724473466494,0.2681630853738577,0.71338606911949],"aabb_xy":[[0.5681942894395997,0.2640821051255944],[0.5763506052536991,0.272244065622121]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_31","position":[0.32449371803789395,-1.0249494949998277,0.71338606911949],"aabb_xy":[[0.31645738333660905,-1.0329876143042442],[0.33253005273917874,-1.0169113756954107]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6796849374637327,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2206.png","name":"2206"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2206.png","name":"2206"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5372.png","name":"5372"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8384.png","name":"8384"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7084.png","name":"7084"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6159.png","name":"6159"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":682.9546470978568,"rotation_z_degrees":167.9036622997371,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005842320923943767,0.015510289281932505,0.0027416165182949682]},{"name":"camera_2","offset_m":[0.009554338243644673,0.0026338744795276862,0.01372811399716543]},{"name":"camera_3","offset_m":[-0.01198820186745977,0.0059500786390724834,-0.0136209320710469]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018081243129984524,-0.00095931583368559,-0.0007517854533703177],"end_effector_yaw_offset_degrees":-0.788523801033377},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010870056565547496,0.00045997387561005606,0.0010031064837688506],"end_effector_yaw_offset_degrees":0.7277934255341596},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005115861852366191,0.0015781565944851627,-0.0018708613693534809],"end_effector_yaw_offset_degrees":-0.44048112492727554}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003363069077742876,0.0004174789066907318],"position_m":[0.35073693092225716,-0.08358252109330927,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002812834553360415,0.0014869613675346904],"position_m":[0.2717871654466396,-0.3288130386324653,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0030247987168172084,-0.0030843738463571845],"position_m":[0.1576752012831828,0.21111562615364282,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004281721117353323,0.002605856604336928],"position_m":[0.3483817211173533,0.11780585660433693,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9827bb2022220caf1d34ebdfc4517be92146ac09c3f9751d37fa6682efcfebe8","episode_index":59,"episode_name":"episode_0059"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0059.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_2206/tex_ceiling_textures_6159/tex_floor_textures_7084/tex_table_textures_5372/tex_wall_textures_8384","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":2544244098008530613,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":2544244098008530613,"visual_seed":2544244098008530613,"scene_id":"lab_003","finished_at":"2026-09-04T02:40:55"} +{"episode_id":"ep_000060","started_at":"2026-09-04T02:40:58","dimensions":{"distractor":{"count":22,"items":[{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_0","position":[-0.3892227009694281,0.24184560102186703,0.71338606911949],"aabb_xy":[[-0.41172270148146867,0.21935374265646868],[-0.3667227004573875,0.2643374593872654]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_1","position":[-0.39780879185271395,-2.462356449732861,0.71338606911949],"aabb_xy":[[-0.44561495946648255,-2.5273564524399195],[-0.3500026242389453,-2.3973564470258015]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_2","position":[0.15617275221599558,-0.994807835062604,0.71338606911949],"aabb_xy":[[0.11340604533657542,-1.0588078384844062],[0.1989394590954158,-0.9308078316408014]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_3","position":[-0.0683251684233066,0.6174532983222334,0.71338606911949],"aabb_xy":[[-0.07463726795964504,0.6116863590690146],[-0.06201306888696817,0.6232202375754522]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_4","position":[0.4120904251289912,-0.7122260900281567,0.71338606911949],"aabb_xy":[[0.40131745120762347,-0.7472260882471956],[0.422863399050359,-0.6772260918091176]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_5","position":[-0.2235595081105473,0.4564192500209687,0.71338606911949],"aabb_xy":[[-0.2735424582980266,0.40641925037840826],[-0.17357655792306798,0.506419249663529]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_6","position":[0.22768476192696252,-1.2043215494950044,0.71338606911949],"aabb_xy":[[0.18240614704581326,-1.268321548843188],[0.2729633768081118,-1.1403215501468207]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_7","position":[0.6665286485509756,0.6270422442693855,0.71338606911949],"aabb_xy":[[0.6514263470899573,0.6119407226383234],[0.6816309500119935,0.6421437659004471]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_8","position":[-0.5662867160561652,-0.930940725165943,0.71338606911949],"aabb_xy":[[-0.626286715902732,-0.9877593473589816],[-0.5062867162095984,-0.8741221029729043]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_9","position":[0.25746800227616395,-1.4139118849880776,0.71338606911949],"aabb_xy":[[0.2269837521491338,-1.4639118847695736],[0.2879522524031941,-1.3639118852065817]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_10","position":[-0.20396818120306437,-2.0716081129203134,0.71338606911949],"aabb_xy":[[-0.22587686334241538,-2.093508779740404],[-0.1820594990637133,-2.0497074461002227]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_11","position":[0.2264014058672963,1.1722259662021859,0.71338606911949],"aabb_xy":[[0.16240140516382698,1.126207583729265],[0.2904014065707657,1.2182443486751071]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_12","position":[-0.21530797612514735,-1.16054777767515,0.71338606911949],"aabb_xy":[[-0.2528079766225056,-1.1645164612232681],[-0.1778079756277891,-1.1565790941270315]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_13","position":[-0.38938013170506375,1.4137902191208078,0.71338606911949],"aabb_xy":[[-0.39534667064579954,1.4078290744614437],[-0.38341359276432796,1.419751363780172]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_14","position":[-0.6709229082747182,1.498069703161717,0.71338606911949],"aabb_xy":[[-0.6750388583867907,1.493954148128871],[-0.6668069581626453,1.502185258194562]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_15","position":[-0.06554244602365544,-0.7757093444300445,0.71338606911949],"aabb_xy":[[-0.09054244529561771,-0.7920547080262068],[-0.040542446751693155,-0.7593639808338821]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_16","position":[0.31081621015818395,-1.0555484722775463,0.71338606911949],"aabb_xy":[[0.275816211888064,-1.0626225999725345],[0.3458162084283038,-1.0484743445825582]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_17","position":[0.6978934494719551,-1.2215470799497314,0.71338606911949],"aabb_xy":[[0.6760037018830143,-1.3115470772389806],[0.7197831970608959,-1.1315470826604823]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_18","position":[0.35607674125589717,0.7393103542207835,0.71338606911949],"aabb_xy":[[0.2910767402553966,0.6885239890661086],[0.42107674225639763,0.7900967193754584]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_19","position":[0.34670131539423044,0.6080405560533917,0.71338606911949],"aabb_xy":[[0.3292013151348938,0.5939490138646192],[0.36420131565356706,0.6221320982421644]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_20","position":[-0.17976917556363636,1.1407155983761386,0.71338606911949],"aabb_xy":[[-0.21568267998862603,1.1048020901593838],[-0.14385567113864664,1.1766291065928929]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_21","position":[-0.33031525839344233,1.0987406239125388,0.71338606911949],"aabb_xy":[[-0.3903152600363642,1.0467404746205946],[-0.2703152567505205,1.150740773204483]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6866967460271675,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2165.png","name":"2165"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2165.png","name":"2165"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5505.png","name":"5505"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4404.png","name":"4404"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2187.png","name":"2187"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1850.png","name":"1850"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":508.7661367309851,"rotation_z_degrees":83.3345794454004,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0031135411941841454,0.008578045541893294,0.010123681795597639]},{"name":"camera_2","offset_m":[-0.007504893263716617,-0.012680996802713227,0.009437759816802546]},{"name":"camera_3","offset_m":[0.014258931292644033,-0.00731484894985238,0.006688312637598847]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[9.635255932868587e-05,-0.00016644293290960562,0.0015875847106123849],"end_effector_yaw_offset_degrees":0.2830150168347261},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00044553835459687713,0.0002735458946963396,0.001361105716543015],"end_effector_yaw_offset_degrees":0.11860834632290729},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0012964464296569911,-0.0006865774705478685,-0.0016500241772201035],"end_effector_yaw_offset_degrees":-0.44700106141058704}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003965066932494528,0.004299559084199936],"position_m":[0.35806506693249457,-0.07970044091580007,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002192790146413464,-0.003943133068877391],"position_m":[0.27679279014641345,-0.3342431330688774,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003969264126737738,0.0010601365188970336],"position_m":[0.16466926412673774,0.21526013651889703,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001072121679371373,-0.0013845381533348832],"position_m":[0.34302787832062864,0.11381546184666512,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"80f5ed1d277ddf1b2db56b442cd344efeb7534a2325c6afa2f784069fe5b1ebe","episode_index":60,"episode_name":"episode_0060"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0060.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_2165/tex_ceiling_textures_1850/tex_floor_textures_2187/tex_table_textures_5505/tex_wall_textures_4404","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":2346326911425816662,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":2346326911425816662,"visual_seed":2346326911425816662,"scene_id":"lab_003","finished_at":"2026-09-04T02:43:47"} +{"episode_id":"ep_000061","started_at":"2026-09-04T02:43:50","dimensions":{"distractor":{"count":29,"items":[{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_0","position":[-0.3270853180195066,-0.24054676007048448,0.71338606911949],"aabb_xy":[[-0.3503671602176379,-0.32554676136771254],[-0.30380347582137524,-0.1555467587732564]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_1","position":[-0.5490414799428429,0.22027848461892852,0.71338606911949],"aabb_xy":[[-0.6190414833344048,0.18496271091549765],[-0.4790414765512809,0.2555942583223594]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_2","position":[-0.21007728860970443,0.6779158785712456,0.71338606911949],"aabb_xy":[[-0.2750772912474979,0.6264362798717986],[-0.14507728597191094,0.7293954772706925]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_3","position":[0.2189475867366626,1.249652609604364,0.71338606911949],"aabb_xy":[[0.1864858858547351,1.219519777489461],[0.25140928761859,1.2797854417192662]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_4","position":[-0.5849518473268127,1.012088841717484,0.71338606911949],"aabb_xy":[[-0.6262006583567273,0.9570888422052665],[-0.5437030362968979,1.0670888412297013]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_5","position":[-0.039787887320572146,-1.4637249241232526,0.71338606911949],"aabb_xy":[[-0.047031653366817465,-1.543724922326855],[-0.032544121274326814,-1.3837249259196502]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_6","position":[-0.41168856246103647,-2.2545420585548186,0.71338606911949],"aabb_xy":[[-0.42362129682286453,-2.266924211362678],[-0.3997558280992084,-2.2421599057469592]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_7","position":[0.5724660158629931,-1.4527049637408018,0.71338606911949],"aabb_xy":[[0.5590194892289497,-1.4661748153938927],[0.5859125424970364,-1.4392351120877105]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_8","position":[0.5922628450060397,0.5541183687221047,0.71338606911949],"aabb_xy":[[0.5423801481283436,0.50411836947583],[0.642145541883736,0.6041183679683795]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_9","position":[0.23807737851703403,-1.275084836918806,0.71338606911949],"aabb_xy":[[0.23176527898069563,-1.280851776172025],[0.2443894780533725,-1.2693178976655872]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_10","position":[0.29764953190417354,-2.1660549465232646,0.71338606911949],"aabb_xy":[[0.29060808095342594,-2.173081698261059],[0.30469098285492113,-2.15902819478547]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_11","position":[-0.041288608015715655,1.1434451776185837,0.71338606911949],"aabb_xy":[[-0.10628860617163471,1.1171489330686715],[0.023711390140203396,1.1697414221684959]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_12","position":[-0.5735953828110582,-2.513053709176908,0.71338606911949],"aabb_xy":[[-0.5960953830545735,-2.52525834383668],[-0.5510953825675428,-2.500849074517136]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_13","position":[0.28138713647404845,-2.2741093118777775,0.71338606911949],"aabb_xy":[[0.23138713519020845,-2.3240881662683988],[0.33138713775788836,-2.2241304574871545]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_14","position":[-0.32792530093869476,0.905926015983078,0.71338606911949],"aabb_xy":[[-0.34493539822874536,0.8897915274848041],[-0.31091520364864406,0.9220605044813519]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_15","position":[-0.3361148631529447,1.3752098476951882,0.71338606911949],"aabb_xy":[[-0.3821999544076762,1.311209850442633],[-0.2900297718982132,1.4392098449477433]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_16","position":[-0.44203991429710887,1.2710589583311083,0.71338606911949],"aabb_xy":[[-0.4546667015843052,1.2615128846295354],[-0.4294131270099125,1.2806050320326812]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_17","position":[-0.007612941096780346,1.3561102687782305,0.71338606911949],"aabb_xy":[[-0.08761293825635563,1.3445626678204134],[0.07238705606279494,1.3676578697360475]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_18","position":[0.3957131432834595,-1.4007854105867799,0.71338606911949],"aabb_xy":[[0.3157131446961401,-1.4801010125249405],[0.47571314187077895,-1.3214698086486187]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_19","position":[-0.18708212864147178,-2.082470587507036,0.71338606911949],"aabb_xy":[[-0.19649960321133453,-2.091886764644755],[-0.17766465407160903,-2.073054410369317]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_20","position":[0.5117036788540879,-2.5290920903243013,0.71338606911949],"aabb_xy":[[0.44770368242676606,-2.5762617141463977],[0.5757036752814099,-2.481922466502205]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_21","position":[-0.2803708211314063,-2.0858672390158186,0.71338606911949],"aabb_xy":[[-0.30227950327075737,-2.1077679058359093],[-0.2584621389920553,-2.063966572195728]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_22","position":[-0.5782821799067567,1.7990083330676865,0.71338606911949],"aabb_xy":[[-0.5959150155002841,1.7813853870520633],[-0.560649344313229,1.8166312790833092]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_23","position":[-0.3133624961240838,1.154766610314899,0.71338606911949],"aabb_xy":[[-0.3546670391878198,1.0907666107467817],[-0.2720579530603478,1.2187666098830159]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_24","position":[-0.07393312710203093,1.460860294284069,0.71338606911949],"aabb_xy":[[-0.08204678177540801,1.4527544778300396],[-0.06581947242865381,1.4689661107380978]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_25","position":[-0.5221987707160711,-1.4908189704445243,0.71338606911949],"aabb_xy":[[-0.533443826286689,-1.5020607681686196],[-0.5109537151454533,-1.479577172720429]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_26","position":[-0.2538565037677747,0.3551975481078462,0.71338606911949],"aabb_xy":[[-0.3114869726550455,0.29519754918113555],[-0.19622603488050377,0.4151975470345567]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_27","position":[0.3511593205518764,-2.0643679632541714,0.71338606911949],"aabb_xy":[[0.28115931874313094,-2.0857217320183588],[0.4211593223606218,-2.043014194489984]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_28","position":[0.35452661772033434,0.5006260895716239,0.71338606911949],"aabb_xy":[[0.29955289568400145,0.44562609000739073],[0.4095003397566672,0.5556260891358571]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6840702320839763,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/165.png","name":"165"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/165.png","name":"165"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2975.png","name":"2975"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6767.png","name":"6767"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1272.png","name":"1272"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6168.png","name":"6168"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":757.0016598624188,"rotation_z_degrees":29.81413458619914,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014853314125312728,0.012546180921208076,0.014905952839128923]},{"name":"camera_2","offset_m":[-0.018057400344926203,0.013079616762807614,0.002780154052551234]},{"name":"camera_3","offset_m":[-0.00459788655503127,0.000182325202235014,-0.0042279444869201925]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00032127879888148,-0.0008287314967739077,0.0008354175625890194],"end_effector_yaw_offset_degrees":-0.15354724280414533},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015347353140097676,0.00028570383288319384,0.0019031098216740643],"end_effector_yaw_offset_degrees":0.5318401342101728},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005982729820217276,0.0007920851627580901,0.00048554106927869685],"end_effector_yaw_offset_degrees":-0.18007102612885761}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0024832409587292248,-0.0002275588090951677],"position_m":[0.35658324095872923,-0.08422755880909517,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0028836630915281608,0.002750140545483195],"position_m":[0.27748366309152817,-0.3275498594545168,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004366008890138137,-0.004617489237590371],"position_m":[0.16506600889013814,0.20958251076240964,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00017774137072924974,-0.0030515951809348806],"position_m":[0.3439222586292708,0.11214840481906511,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"75f14dc87b9b0749321b755b170332d3666ad32f8acfea9da1908d41420297c1","episode_index":61,"episode_name":"episode_0061"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0061.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_165/tex_ceiling_textures_6168/tex_floor_textures_1272/tex_table_textures_2975/tex_wall_textures_6767","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":6235178048099021668,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":6235178048099021668,"visual_seed":6235178048099021668,"scene_id":"lab_003","finished_at":"2026-09-04T02:46:27"} +{"episode_id":"ep_000062","started_at":"2026-09-04T02:46:30","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_0","position":[-0.2519180994611217,-1.0389230387480597,0.71338606911949],"aabb_xy":[[-0.3019180981070429,-1.088842582407522],[-0.2019181008152005,-0.9890034950885973]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_1","position":[-0.24833974238435963,-2.392792613108197,0.71338606911949],"aabb_xy":[[-0.3083397429803758,-2.447605085653421],[-0.18833974178834342,-2.337980140562974]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_2","position":[-0.5802659870895963,1.4861328377718572,0.71338606911949],"aabb_xy":[[-0.6140415462802893,1.4720943425586923],[-0.5464904278989033,1.5001713329850221]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_3","position":[-0.19935614067775465,-0.15697050421303738,0.71338606911949],"aabb_xy":[[-0.2343561389884501,-0.16468551913658303],[-0.1643561423670592,-0.14925548928949173]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_4","position":[0.24728142212756965,-0.5833496395568556,0.71338606911949],"aabb_xy":[[0.22985070704856314,-0.6006217542207063],[0.26471213720657616,-0.5660775248930047]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_5","position":[0.4326855449790781,-0.5167833207969181,0.71338606911949],"aabb_xy":[[0.38487937736530936,-0.581783323503977],[0.4804917125928467,-0.45178331808985905]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_6","position":[-0.5525529245978062,0.9708729522151369,0.71338606911949],"aabb_xy":[[-0.5700528580317895,0.9533729522949023],[-0.5350529911638228,0.9883729521353714]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_7","position":[0.19425939697941363,-1.2490027226642124,0.71338606911949],"aabb_xy":[[0.1773486645430718,-1.2624749282568268],[0.21117012941575536,-1.2355305170715976]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_8","position":[0.10070892063290182,-1.9486689345016646,0.71338606911949],"aabb_xy":[[0.0207089201626859,-1.956979642116013],[0.18070892110311781,-1.9403582268873165]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_9","position":[0.009165638731470582,1.5269069328717113,0.71338606911949],"aabb_xy":[[-0.04071705814622562,1.4769069336254366],[0.059048335609166794,1.5769069321179863]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_10","position":[0.0847106040743596,-0.7247395630357749,0.71338606911949],"aabb_xy":[[0.020710606788710936,-0.7662462819886189],[0.14871060136000824,-0.683232844082931]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_11","position":[-0.39896834358377303,-1.9646225706901992,0.71338606911949],"aabb_xy":[[-0.4148528368490981,-1.9789755109890235],[-0.3830838503184478,-1.9502696303913754]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_12","position":[0.6617840163105737,1.1673640615321648,0.71338606911949],"aabb_xy":[[0.6451068803174782,1.1506641375582345],[0.6784611523036692,1.184063985506095]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_13","position":[-0.14013006885729606,0.02255707387389272,0.71338606911949],"aabb_xy":[[-0.16513006840903455,0.012414590008757994],[-0.11513006930555758,0.03269955773902744]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_14","position":[-0.05026076456129125,-2.1897010518968676,0.71338606911949],"aabb_xy":[[-0.07409698220189631,-2.2797010527053545],[-0.02642454692068618,-2.0997010510883816]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_15","position":[0.5741722628728356,0.5727990133782006,0.71338606911949],"aabb_xy":[[0.5661359281715508,0.5647608940737837],[0.5822085975741205,0.5808371326826173]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_16","position":[0.36981675492425703,-1.7745178381513593,0.71338606911949],"aabb_xy":[[0.33735505404232946,-1.8046506702662615],[0.4022784558061844,-1.7443850060364563]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_17","position":[-0.5652357484048927,-0.7746131426629341,0.71338606911949],"aabb_xy":[[-0.6037814412300937,-0.8131589137191227],[-0.5266900555796916,-0.7360673716067455]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_18","position":[-0.5057816071555841,-2.495647144634136,0.71338606911949],"aabb_xy":[[-0.5369285259991672,-2.5656471433209433],[-0.47463468831200095,-2.425647145947329]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_19","position":[0.5756722376573684,1.4042328958535544,0.71338606911949],"aabb_xy":[[0.5056722412474064,1.3837949602018722],[0.64567223406733,1.4246708315052357]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_20","position":[-0.4210013034092417,-0.015459255047594933,0.71338606911949],"aabb_xy":[[-0.43108301048781517,-0.09545925293970958],[-0.4109195963306682,0.06454074284451972]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_21","position":[0.6183522768283225,-0.9828085590242925,0.71338606911949],"aabb_xy":[[0.5731809589801536,-1.046808556168831],[0.6635235946764916,-0.9188085618797541]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_22","position":[-0.6310586620158525,0.576459445065773,0.71338606911949],"aabb_xy":[[-0.6860541398365118,0.521459443631866],[-0.576063184195193,0.6314594464996799]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_23","position":[-0.4262905366225108,1.482556653936562,0.71338606911949],"aabb_xy":[[-0.43421381686125915,1.4600566536985586],[-0.4183672563837625,1.5050566541745654]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_24","position":[0.40249239424761085,-1.0134037460395469,0.71338606911949],"aabb_xy":[[0.3224923955907249,-1.0279086049638098],[0.4824923929044969,-0.9988988871152841]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_25","position":[-0.19393908086069556,1.6762936415035585,0.71338606911949],"aabb_xy":[[-0.2085824864147285,1.661634921846774],[-0.17929567530666254,1.6909523611603425]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.683082713923922,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3126.png","name":"3126"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3126.png","name":"3126"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6846.png","name":"6846"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2297.png","name":"2297"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1600.png","name":"1600"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7346.png","name":"7346"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":568.1676649570354,"rotation_z_degrees":257.40863988913407,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002462516122127806,0.016846676875649735,-0.017158225586900572]},{"name":"camera_2","offset_m":[-0.0032062785243507953,-0.018088312251701474,-0.012678561218581429]},{"name":"camera_3","offset_m":[0.018537275179362423,-0.005954364657091746,0.014348429632782305]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001247651930638707,-0.0004098193310036642,-0.00100799416364332],"end_effector_yaw_offset_degrees":-0.005497724839980345},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011748773775812462,0.000572877171463617,-0.0005005658532444195],"end_effector_yaw_offset_degrees":0.8585418163349949},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015542187611752318,0.001031906548369039,0.0012877000614000223],"end_effector_yaw_offset_degrees":-0.21792420193362294}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00039103306017795447,-0.004645272703718885],"position_m":[0.354491033060178,-0.08864527270371889,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00169657563367249,0.0026367316641501305],"position_m":[0.2762965756336725,-0.32766326833584986,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004293430124118104,-0.0037101092679996143],"position_m":[0.15640656987588192,0.2104898907320004,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0014280705430092218,-0.003943082561894421],"position_m":[0.3455280705430092,0.11125691743810558,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f695a7f03639b5db36f6d46834e0b304e4e8735ecc633784ba56120e8bdfcaa3","episode_index":62,"episode_name":"episode_0062"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0062.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_3126/tex_ceiling_textures_7346/tex_floor_textures_1600/tex_table_textures_6846/tex_wall_textures_2297","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":496841237613491774,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":496841237613491774,"visual_seed":496841237613491774,"scene_id":"lab_003","finished_at":"2026-09-04T02:49:09"} +{"episode_id":"ep_000063","started_at":"2026-09-04T02:49:13","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_0","position":[-0.17326862785222363,0.9592610909815948,0.71338606911949],"aabb_xy":[[-0.1858713269893001,0.9466656947567295],[-0.16066592871514718,0.9718564872064605]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_1","position":[0.5210238893900039,0.47748370570260645,0.71338606911949],"aabb_xy":[[0.51374157301334,0.3874837020930973],[0.5283062057666673,0.5674837093121152]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_2","position":[0.14087318958693373,-1.1165999245837817,0.71338606911949],"aabb_xy":[[0.11837318977303138,-1.1210745409542624],[0.16337318940083614,-1.112125308213301]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_3","position":[0.6978395772444319,0.3191679012693083,0.71338606911949],"aabb_xy":[[0.6904271217030434,0.3133166908476803],[0.7052520327858204,0.3250191116909362]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_4","position":[0.17646927644768395,1.674537146595195,0.71338606911949],"aabb_xy":[[0.15883644085415635,1.6569142005795718],[0.1941021120412115,1.6921600926108178]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_5","position":[-0.05183969187981208,-1.300272221537026,0.71338606911949],"aabb_xy":[[-0.09460639875923227,-1.3642722249588284],[-0.009072985000391894,-1.2362722181152235]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_6","position":[-0.49062929535127436,-2.299334704336729,0.71338606911949],"aabb_xy":[[-0.5119073034947466,-2.364334706662802],[-0.4693512872078021,-2.234334702010656]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_7","position":[0.6494887704212498,0.9617746946579127,0.71338606911949],"aabb_xy":[[0.5994956583120579,0.911774693983717],[0.6994818825304416,1.0117746953321083]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_8","position":[0.44180795656773064,1.1320155927196764,0.71338606911949],"aabb_xy":[[0.4049574086307431,1.0945155918966427],[0.4786585045047183,1.1695155935427102]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_9","position":[-0.0550978535930271,0.9907592100344136,0.71338606911949],"aabb_xy":[[-0.10118294484775858,0.9267592127818586],[-0.009012762338295626,1.0547592072869687]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_10","position":[0.3871542324543624,1.7154509272754592,0.71338606911949],"aabb_xy":[[0.3400248534525267,1.651450926231057],[0.43428361145619804,1.779450928319861]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_11","position":[-0.0813971842350163,1.6011245189726382,0.71338606911949],"aabb_xy":[[-0.08939117281271967,1.5931244388775478],[-0.07340319565731289,1.6091245990677285]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_12","position":[-0.6063247529623145,-0.6965576243141307,0.71338606911949],"aabb_xy":[[-0.6133662039130621,-0.7035843760519253],[-0.5992833020115669,-0.6895308725763362]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_13","position":[-0.6678454023901483,-1.1615342375005653,0.71338606911949],"aabb_xy":[[-0.6742592160333332,-1.1679440577482334],[-0.6614315887469633,-1.1551244172528967]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_14","position":[0.15035526182493297,0.7002274070002623,0.71338606911949],"aabb_xy":[[0.12785884039106887,0.677727407193515],[0.17285168325879707,0.7227274068070099]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_15","position":[0.3501288688653199,1.223801326079351,0.71338606911949],"aabb_xy":[[0.3375020815781235,1.2142552523777779],[0.3627556561525162,1.2333473997809237]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_16","position":[0.6673401631267666,0.15913808754467462,0.71338606911949],"aabb_xy":[[0.6612455352386483,0.15056869299300588],[0.6734347910148849,0.1677074820963433]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_17","position":[-0.3861574310923193,-1.4927902255299272,0.71338606911949],"aabb_xy":[[-0.40132030406925645,-1.5079556828250462],[-0.37099455811538223,-1.4776247682348085]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_18","position":[-0.31777949693765706,-0.7253814239289049,0.71338606911949],"aabb_xy":[[-0.32241461208989036,-0.7292487590060535],[-0.31314438178542364,-0.7215140888517562]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_19","position":[0.49843612560515926,1.5199721346104984,0.71338606911949],"aabb_xy":[[0.49032247093178216,1.511866318156469],[0.5065497802785364,1.5280779510645273]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_20","position":[-0.28397539217992845,-0.20719770787768166,0.71338606911949],"aabb_xy":[[-0.3739753915982993,-0.24057320472187135],[-0.1939753927615575,-0.1738222110334919]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_21","position":[-0.5301790025359456,-1.87138125859479,0.71338606911949],"aabb_xy":[[-0.5801790019761413,-1.921349183079106],[-0.48017900309575,-1.8214133341104735]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6805137221756197,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/529.png","name":"529"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/529.png","name":"529"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6179.png","name":"6179"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/149.png","name":"149"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4924.png","name":"4924"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2199.png","name":"2199"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":721.1787982379934,"rotation_z_degrees":135.70654581497098,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0070605189867719576,0.0066456383971755,-0.015608474838258335]},{"name":"camera_2","offset_m":[0.01507100663562538,-0.007145525082714519,0.017490524954814773]},{"name":"camera_3","offset_m":[0.0142131376688228,-0.00310968144546922,-0.011591736099949169]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018231561994925213,0.0004399993073557198,0.001551800705910982],"end_effector_yaw_offset_degrees":-0.5066734721160908},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001224965198207988,0.0001370045274102327,-0.0018641966637483556],"end_effector_yaw_offset_degrees":0.6692347861473797},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009836458125482902,-0.0017294587296672135,0.0003518294703560962],"end_effector_yaw_offset_degrees":0.4390176434694426}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0017002630056969668,0.003980775612923066],"position_m":[0.355800263005697,-0.08001922438707694,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00463933769132116,-0.003488719233037954],"position_m":[0.2699606623086789,-0.33378871923303793,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0010425543458510277,0.003763370474850811],"position_m":[0.159657445654149,0.21796337047485081,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0004949669790963816,0.0026636392281995944],"position_m":[0.3436050330209036,0.11786363922819959,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"50d18673db7e25fc703b71652314201d2a794d811e1728e40fe91e92030cf6ec","episode_index":63,"episode_name":"episode_0063"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0063.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_529/tex_ceiling_textures_2199/tex_floor_textures_4924/tex_table_textures_6179/tex_wall_textures_149","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":3764653946596089331,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":3764653946596089331,"visual_seed":3764653946596089331,"scene_id":"lab_003","finished_at":"2026-09-04T02:51:50"} +{"episode_id":"ep_000064","started_at":"2026-09-04T02:51:53","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_0","position":[-0.5844287873994649,-1.3446531269578146,0.71338606911949],"aabb_xy":[[-0.6344287883499976,-1.376202273961336],[-0.534428786448932,-1.3131039799542932]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_1","position":[-0.42244079665681394,1.372683252359562,0.71338606911949],"aabb_xy":[[-0.45744079492693385,1.3656091246645736],[-0.38744079838669404,1.37975738005455]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_2","position":[0.5508586739692676,-1.494837430347765,0.71338606911949],"aabb_xy":[[0.5427450192958904,-1.5029432468017938],[0.5589723286426446,-1.4867316138937356]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_3","position":[0.5657527821735353,0.7638104586785812,0.71338606911949],"aabb_xy":[[0.5007527810675919,0.738845085610453],[0.6307527832794785,0.7887758317467096]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_4","position":[-0.5490778307515898,-0.5785510761578454,0.71338606911949],"aabb_xy":[[-0.5865778308571827,-0.5853732380108264],[-0.5115778306459968,-0.5717289143048642]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_5","position":[0.21088945136667858,1.3155944856318396,0.71338606911949],"aabb_xy":[[0.1846006270462379,1.289323051977188],[0.23717827568711922,1.3418659192864906]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_6","position":[0.5767790263341277,1.4077354158893067,0.71338606911949],"aabb_xy":[[0.5555010181906552,1.342735413563234],[0.5980570344775997,1.47273541821538]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_7","position":[0.021840892390241895,-1.4395861779159516,0.71338606911949],"aabb_xy":[[-0.04215910489540675,-1.4810928968687957],[0.08584088967589054,-1.3980794589631078]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_8","position":[0.2855028953985074,0.6508738477333713,0.71338606911949],"aabb_xy":[[0.27946588239784265,0.6448471466644231],[0.2915399083991721,0.6569005488023195]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_9","position":[-0.6075891921733431,0.5925628475958926,0.71338606911949],"aabb_xy":[[-0.6575734278815203,0.542562848782397],[-0.5576049564651658,0.6425628464093882]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_10","position":[-0.3194428067811679,-0.32888790777958565,0.71338606911949],"aabb_xy":[[-0.3264842577319155,-0.3359146595173802],[-0.3124013558304203,-0.3218611560417911]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_11","position":[-0.19863615057242945,1.350663569242612,0.71338606911949],"aabb_xy":[[-0.25363614877417423,1.3101416026161745],[-0.14363615237068458,1.3911855358690497]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_12","position":[-0.22939261087544144,1.1696744757476027,0.71338606911949],"aabb_xy":[[-0.24455548385237855,1.1545090184524844],[-0.21422973789850439,1.184839933042722]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_13","position":[0.22717712776928123,0.8200722201703847,0.71338606911949],"aabb_xy":[[0.18587258470554519,0.7560722206022675],[0.26848167083301716,0.8840722197385017]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_14","position":[0.09942564001047405,1.408714574603458,0.71338606911949],"aabb_xy":[[0.08192563975113744,1.3946230324146853],[0.1169256402698107,1.4228061167922306]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_15","position":[-0.20083327007327895,-1.9321549591078215,0.71338606911949],"aabb_xy":[[-0.21638903948354424,-1.9477053923522292],[-0.18527750066301368,-1.9166045258634148]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_16","position":[-0.4269655320384513,-2.1752863986639825,0.71338606911949],"aabb_xy":[[-0.5069655300192364,-2.182887939625834],[-0.3469655340576663,-2.16768485770213]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_17","position":[-0.01952279694941561,1.7945106713215426,0.71338606911949],"aabb_xy":[[-0.10952279667258978,1.7714373187863626],[0.07047720277375856,1.8175840238567222]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_18","position":[-0.2810758063139439,-1.5070058653682235,0.71338606911949],"aabb_xy":[[-0.31607580629043974,-1.51647048141584],[-0.24607580633744808,-1.4975412493206068]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_19","position":[-0.38314459503731463,-2.329279146634133,0.71338606911949],"aabb_xy":[[-0.4109896318179217,-2.3600636453724446],[-0.35529955825670745,-2.2984946478958213]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_20","position":[-0.22379178759530277,1.4693197897590884,0.71338606911949],"aabb_xy":[[-0.23182812229658759,1.4612816704546714],[-0.2157554528940179,1.477357909063505]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_21","position":[-0.17739570584328224,0.9234497286776713,0.71338606911949],"aabb_xy":[[-0.23252091147287302,0.8634497272363841],[-0.12227050021369147,0.9834497301189584]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_22","position":[0.2061787812277316,-2.167300142380921,0.71338606911949],"aabb_xy":[[0.1944105944330741,-2.252300142286143],[0.21794696802238914,-2.0823001424756997]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_23","position":[0.34193637702233115,-2.1127138587725334,0.71338606911949],"aabb_xy":[[0.26193637376448825,-2.192710366564517],[0.42193638028017416,-2.032717350980549]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_24","position":[0.6987037326413734,-2.0117920172462527,0.71338606911949],"aabb_xy":[[0.6873419979880873,-2.0231604836525405],[0.7100654672946596,-2.000423550839964]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_25","position":[-0.5814002059089738,0.7912947516042963,0.71338606911949],"aabb_xy":[[-0.6164002072604555,0.7709350156474754],[-0.546400204557492,0.811654487561117]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_26","position":[-0.593100221622523,0.20905875007576036,0.71338606911949],"aabb_xy":[[-0.6480739436588558,0.15405875051152715],[-0.5381264995861901,0.26405874963999354]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_27","position":[-0.035021198215661964,-1.9828238104941773,0.71338606911949],"aabb_xy":[[-0.1150212014796751,-1.9963838428030904],[0.04497880504835117,-1.9692637781852638]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_28","position":[0.5935940558521968,-1.1113301009353302,0.71338606911949],"aabb_xy":[[0.5295940585498503,-1.155696527903187],[0.6575940531545431,-1.0669636739674735]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_29","position":[0.05127898088281191,1.482685669629284,0.71338606911949],"aabb_xy":[[0.04328549108752989,1.4746875376888084],[0.05927247067809395,1.4906838015697597]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_30","position":[0.06150813819173595,-2.1320183886602564,0.71338606911949],"aabb_xy":[[0.011508138751540317,-2.1819863131445727],[0.11150813763193156,-2.08205046417594]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_31","position":[-0.06106074165618425,0.191908719470403,0.71338606911949],"aabb_xy":[[-0.09537701883080218,0.14190871949722528],[-0.02674446448156631,0.24190871944358072]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_32","position":[0.49915248889670405,0.028379946945417345,0.71338606911949],"aabb_xy":[[0.49381997424209106,0.023055618700181746],[0.5044850035513171,0.033704275190652944]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_33","position":[-0.5427533865264875,-0.27779887834141004,0.71338606911949],"aabb_xy":[[-0.6327533902034056,-0.3392312849185143],[-0.45275338284956923,-0.21636647176430557]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6799323581297992,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2297.png","name":"2297"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2297.png","name":"2297"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7521.png","name":"7521"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4991.png","name":"4991"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1442.png","name":"1442"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4473.png","name":"4473"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":577.0352292275614,"rotation_z_degrees":65.55513522327023,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007638977059297121,0.016005762760907694,0.017968656309281326]},{"name":"camera_2","offset_m":[-0.007117768979590959,-0.010627568340355173,-0.002030195694806211]},{"name":"camera_3","offset_m":[-0.0003024592299264578,0.019310617378911526,-0.005972552745963701]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018175738921029183,-0.00035322770776244155,0.0012172047352645744],"end_effector_yaw_offset_degrees":0.34099685366095156},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0003672747937895479,-0.0010557639508910453,-0.001283184683699524],"end_effector_yaw_offset_degrees":0.18787243074036764},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007370381217686804,0.0007941717643332813,-0.0010557869775452305],"end_effector_yaw_offset_degrees":0.9316421130869712}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0020911839503851923,-0.003241308250256398],"position_m":[0.35619118395038524,-0.0872413082502564,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004119379170986629,-0.0013731228523645536],"position_m":[0.27048062082901336,-0.33167312285236455,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0022296853900529313,0.0012615754223731304],"position_m":[0.15847031460994707,0.21546157542237312,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004082401708453555,0.004430505908796462],"position_m":[0.3400175982915465,0.11963050590879645,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"319d73b0786257d9f9e13ffa425dd7530b087f77c449aac17b2c92ec1fcc30d8","episode_index":64,"episode_name":"episode_0064"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0064.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_2297/tex_ceiling_textures_4473/tex_floor_textures_1442/tex_table_textures_7521/tex_wall_textures_4991","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":8006026859343489013,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":8006026859343489013,"visual_seed":8006026859343489013,"scene_id":"lab_003","finished_at":"2026-09-04T02:54:30"} +{"episode_id":"ep_000065","started_at":"2026-09-04T02:54:33","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_0","position":[-0.4791197995577279,-1.8906603985000259,0.71338606911949],"aabb_xy":[[-0.5166198000550861,-1.8946290820481444],[-0.44161979906036963,-1.8866917149519074]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_1","position":[0.6366826980949476,-1.825138093586037,0.71338606911949],"aabb_xy":[[0.6220392925409145,-1.8397968132428213],[0.6513261036489805,-1.8104793739292528]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_2","position":[0.47840183981133344,-1.035878636032758,0.71338606911949],"aabb_xy":[[0.4632296705297001,-1.0510474929609614],[0.4935740090929668,-1.0207097791045547]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_3","position":[0.17012192217076016,1.6514854407764008,0.71338606911949],"aabb_xy":[[0.10512192121363294,1.5995372288426954],[0.23512192312788735,1.7034336527101066]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_4","position":[0.3093556545236762,-1.6773989152356208,0.71338606911949],"aabb_xy":[[0.290471270755166,-1.6962848400159736],[0.3282400382921864,-1.658512990455268]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_5","position":[0.3992318404784858,1.08308106079566,0.71338606911949],"aabb_xy":[[0.3680849216349027,1.0130810621088526],[0.4303787593220689,1.153081059482467]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_6","position":[0.14751622034275558,-1.8045369897585264,0.71338606911949],"aabb_xy":[[0.08751621983490264,-1.8613837234444477],[0.20751622085060847,-1.747690256072605]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_7","position":[-0.4911923266739718,0.4636430700876537,0.71338606911949],"aabb_xy":[[-0.5463175323035624,0.40364306864636657],[-0.43606712104438095,0.5236430715289409]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_8","position":[-0.4698986250473085,-0.870063424382667,0.71338606911949],"aabb_xy":[[-0.4769389349808456,-0.9500634237823385],[-0.4628583151137716,-0.7900634249829958]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_9","position":[-0.06976870737418561,0.10204343357171064,0.71338606911949],"aabb_xy":[[-0.1047687056443055,0.09496930587672248],[-0.034768709104065695,0.1091175612666988]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_10","position":[-0.44933721955235467,0.18180256011568607,0.71338606911949],"aabb_xy":[[-0.45479516518937474,0.10180255680802694],[-0.4438792739153346,0.2618025634233452]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_11","position":[0.05101459666040631,1.0247092189831162,0.71338606911949],"aabb_xy":[[0.03786335068911695,0.9997092192264296],[0.06416584263169567,1.0497092187398027]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_12","position":[-0.39046696392720953,-2.5087724486710874,0.71338606911949],"aabb_xy":[[-0.4105253755404498,-2.528837535580245],[-0.37040855231396924,-2.48870736176193]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_13","position":[-0.5111225637971282,0.938186101664845,0.71338606911949],"aabb_xy":[[-0.5911225670549711,0.8581895938728611],[-0.4311225605392852,1.018182609456829]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_14","position":[0.36500178655997284,1.3692113865388946,0.71338606911949],"aabb_xy":[[0.35343280581303627,1.3442113864219631],[0.3765707673069094,1.3942113866558266]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_15","position":[-0.4202728075439578,1.0755363310341655,0.71338606911949],"aabb_xy":[[-0.4902728091462373,1.0621035378325079],[-0.3502728059416783,1.088969124235823]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_16","position":[0.06121182864820951,-1.4536727997627386,0.71338606911949],"aabb_xy":[[0.011211827697676702,-1.48522194676626],[0.11121182959874232,-1.4221236527592171]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_17","position":[0.602188491118661,-1.7093155379808986,0.71338606911949],"aabb_xy":[[0.5371884925615881,-1.7390680713947813],[0.6671884896757337,-1.679563004567016]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_18","position":[-0.22759027660129844,-0.7822247444175685,0.71338606911949],"aabb_xy":[[-0.245223112194826,-0.7998476904331914],[-0.20995744100777086,-0.7646017984019454]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_19","position":[-0.34322459362125207,-1.5711496987936242,0.71338606911949],"aabb_xy":[[-0.3566711202552954,-1.5846195504467149],[-0.32977806698720874,-1.5576798471405326]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_20","position":[-0.010168947860900612,1.4098542976331085,0.71338606911949],"aabb_xy":[[-0.0514734909246366,1.3458542980649915],[0.031135595202835376,1.4738542972012256]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_21","position":[0.5798113387167041,-1.9903044643783505,0.71338606911949],"aabb_xy":[[0.5761080773875651,-1.994006482687068],[0.5835146000458429,-1.9866024460696325]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_22","position":[0.4602950583386276,1.6934938725649693,0.71338606911949],"aabb_xy":[[0.41029505876229294,1.6435132936128634],[0.5102950579149623,1.7434744515170753]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_23","position":[0.3737255149448788,-1.275911281100848,0.71338606911949],"aabb_xy":[[0.33994995575418585,-1.2899497763140129],[0.4075010741355718,-1.2618727858876826]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_24","position":[0.5839310376064393,-0.6778460975665226,0.71338606911949],"aabb_xy":[[0.5776189380701009,-0.6836130368197414],[0.5902431371427777,-0.6720791583133038]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_25","position":[-0.2728974178772076,-1.9852692635759412,0.71338606911949],"aabb_xy":[[-0.36258449418532307,-2.075269263830392],[-0.18321034156909216,-1.8952692633214907]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_26","position":[0.45220197242309945,-2.3012912046428817,0.71338606911949],"aabb_xy":[[0.38820197051075717,-2.357202353900892],[0.5162019743354418,-2.2453800553848713]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_27","position":[0.5413312250639826,1.0533227082732823,0.71338606911949],"aabb_xy":[[0.5339187695225941,1.0474714978516544],[0.548743680605371,1.0591739186949103]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_28","position":[0.6332025585282224,-2.1458146682667985,0.71338606911949],"aabb_xy":[[0.6162918260918805,-2.1592868738594126],[0.650113290964564,-2.1323424626741834]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_29","position":[-0.20116298550205003,-1.1544953454780575,0.71338606911949],"aabb_xy":[[-0.24334739966288077,-1.2184953457552687],[-0.1589785713412193,-1.0904953452008463]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_30","position":[0.6598079136767916,-0.9362159005108222,0.71338606911949],"aabb_xy":[[0.609807914236596,-0.9861838249951383],[0.7098079131169872,-0.8862479760265057]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.680294740241823,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4152.png","name":"4152"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4152.png","name":"4152"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6869.png","name":"6869"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3740.png","name":"3740"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3762.png","name":"3762"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7983.png","name":"7983"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":560.8927676459399,"rotation_z_degrees":199.5888734618249,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013869706582268635,-0.006315828875315033,0.01854104278753937]},{"name":"camera_2","offset_m":[0.015181569885791227,-0.019708690755691732,-0.01609826579668854]},{"name":"camera_3","offset_m":[-0.013428631940879347,-0.01946928512262385,-0.019770714499955856]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017455982998505794,0.001271936056116925,-0.0013468789076096957],"end_effector_yaw_offset_degrees":0.8558616803459564},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010726260843355497,-3.746922510873118e-05,-0.0019709119881610934],"end_effector_yaw_offset_degrees":-0.7939821554577859},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015846573466512816,-0.0015911716615085592,-0.0019382668554979797],"end_effector_yaw_offset_degrees":0.7787250530410212}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0001262007194016727,-0.00453112698856027],"position_m":[0.3542262007194017,-0.08853112698856028,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001030328885491121,0.003461302033284936],"position_m":[0.2735696711145089,-0.32683869796671505,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0028674316690766154,-0.004452984085578188],"position_m":[0.1578325683309234,0.20974701591442182,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00036770756396184955,0.004001231740984718],"position_m":[0.34373229243603814,0.11920123174098471,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5b62b1273f400cae4f1886b810f2f8d803f9b82bef6f5749ba269110afbdbd41","episode_index":65,"episode_name":"episode_0065"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0065.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_4152/tex_ceiling_textures_7983/tex_floor_textures_3762/tex_table_textures_6869/tex_wall_textures_3740","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":5862976636110639864,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":5862976636110639864,"visual_seed":5862976636110639864,"scene_id":"lab_003","finished_at":"2026-09-04T02:57:20"} +{"episode_id":"ep_000066","started_at":"2026-09-04T02:57:23","dimensions":{"distractor":{"count":33,"items":[{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_0","position":[0.2002152259071901,-2.116887508042998,0.71338606911949],"aabb_xy":[[0.17771522589704183,-2.130983727682602],[0.22271522591733842,-2.1027912884033952]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_1","position":[-0.16570671518641678,-1.3671095908024722,0.71338606911949],"aabb_xy":[[-0.22970671158198985,-1.431072879221206],[-0.1017067187908437,-1.3031463023837389]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_2","position":[0.5397341488213083,0.5169485372248639,0.71338606911949],"aabb_xy":[[0.4747341502642355,0.48719600381098127],[0.6047341473783812,0.5467010706387465]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_3","position":[-0.5170847652875703,-1.656943428394701,0.71338606911949],"aabb_xy":[[-0.5271664723661437,-1.7369434262868158],[-0.5070030582089967,-1.5769434305025865]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_4","position":[0.42184164516044675,-1.1101731086642823,0.71338606911949],"aabb_xy":[[0.3321545688523313,-1.2001731089187329],[0.5115287214685622,-1.0201731084098318]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_5","position":[0.5947431707709214,0.34783593953246594,0.71338606911949],"aabb_xy":[[0.5748521308905813,0.3351801282477691],[0.6146342106512618,0.3604917508171628]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_6","position":[0.182032644774904,1.2444987050398506,0.71338606911949],"aabb_xy":[[0.13193518079383038,1.1804987045300388],[0.23213010875597762,1.3084987055496624]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_7","position":[0.2293717253071953,-0.5911136248643074,0.71338606911949],"aabb_xy":[[0.1653717281950896,-0.640145994658718],[0.293371722419301,-0.5420812550698968]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_8","position":[-0.2675336927911691,1.6677959942358647,0.71338606911949],"aabb_xy":[[-0.27716532901159874,1.6581586814561557],[-0.2579020565707395,1.6774333070155736]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_9","position":[0.559601636752143,1.0601988027987677,0.71338606911949],"aabb_xy":[[0.5556877635567204,1.0514497873922108],[0.5635155099475654,1.0689478182053245]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_10","position":[0.0921476325459527,-2.003845969837565,0.71338606911949],"aabb_xy":[[0.08401994435263949,-2.012759578248273],[0.10027532073926593,-1.9949323614268573]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_11","position":[0.4844581003605919,0.699549666867783,0.71338606911949],"aabb_xy":[[0.45014182318597395,0.6495496668946052],[0.5187743775352098,0.7495496668409607]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_12","position":[0.3734875181727406,-1.7663097790658941,0.71338606911949],"aabb_xy":[[0.31348751832617383,-1.8231284012589328],[0.4334875180193074,-1.7094911568728555]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_13","position":[-0.15866321247605453,-2.1977441358629055,0.71338606911949],"aabb_xy":[[-0.24866321615297263,-2.259176542440009],[-0.0686632087991363,-2.1363117292858003]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_14","position":[0.6541816251004551,1.6125045516051286,0.71338606911949],"aabb_xy":[[0.6166816251566886,1.6042114615702918],[0.6916816250442214,1.620797641639965]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_15","position":[-0.4369622349131905,-1.6531708606123503,0.71338606911949],"aabb_xy":[[-0.4478027131397054,-1.6703571419029994],[-0.42612175668667557,-1.6359845793217016]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_16","position":[-0.21142369944670414,-2.0445360188650215,0.71338606911949],"aabb_xy":[[-0.2614066496341834,-2.0945360185075814],[-0.16144074925922478,-1.9945360192224608]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_17","position":[-0.0565954580975937,-0.0037970691800661704,0.71338606911949],"aabb_xy":[[-0.060298719426732574,-0.007499087488784027],[-0.05289219676845484,-9.50508713483118e-05]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_18","position":[-0.3615774196973911,-1.2230128823025737,0.71338606911949],"aabb_xy":[[-0.3990774182730119,-1.2357491779661314],[-0.3240774211217703,-1.2102765866390155]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_19","position":[0.646181865533229,0.2357099081961458,0.71338606911949],"aabb_xy":[[0.5861818646724161,0.18428347818965937],[0.7061818663940417,0.2871363382026321]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_20","position":[-0.4286626431195619,-2.5325172028304297,0.71338606911949],"aabb_xy":[[-0.43507645676274687,-2.5389270230780974],[-0.422248829476377,-2.526107382582761]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_21","position":[0.5971978145653749,-1.2998103943575086,0.71338606911949],"aabb_xy":[[0.5859527589947571,-1.3110521920816038],[0.6084428701359927,-1.2885685966334133]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_22","position":[0.5317012479060756,-0.6314080709915044,0.71338606911949],"aabb_xy":[[0.48170623694662373,-0.6814080700270961],[0.5816962588655278,-0.5814080719559127]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_23","position":[-0.21671927566780624,1.0136603601618908,0.71338606911949],"aabb_xy":[[-0.25421927595998106,1.0096188847612872],[-0.17921927537563143,1.0177018355624943]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_24","position":[-0.01262420301324818,-1.585181123215233,0.71338606911949],"aabb_xy":[[-0.07262420352110109,-1.6420278569011544],[0.04737579749460473,-1.5283343895293118]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_25","position":[-0.43175148603374863,-1.0678394008490872,0.71338606911949],"aabb_xy":[[-0.48672520807008157,-1.1228394004133206],[-0.3767777639974158,-1.0128394012848543]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_26","position":[0.6399930368474165,1.2687472085095561,0.71338606911949],"aabb_xy":[[0.5759930345046149,1.2238063572654236],[0.703993039190218,1.3136880597536886]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_27","position":[-0.44020112042160536,1.6176761275765634,0.71338606911949],"aabb_xy":[[-0.4739766796122983,1.6036376323633985],[-0.40642556123091234,1.6317146227897283]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_28","position":[-0.21588113914398244,1.323438969927679,0.71338606911949],"aabb_xy":[[-0.22848383828105892,1.3108435737028135],[-0.203278440006906,1.3360343661525445]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_29","position":[-0.0915473041827003,-0.7734641142461551,0.71338606911949],"aabb_xy":[[-0.12498747937871987,-0.8069077400770851],[-0.05810712898668067,-0.7400204884152249]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_30","position":[-0.0022736417511154405,0.6577051904335143,0.71338606911949],"aabb_xy":[[-0.03977364326674715,0.6464784174173692],[0.03522635976451627,0.6689319634496593]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_31","position":[-0.2522420840858224,-2.373692679633439,0.71338606911949],"aabb_xy":[[-0.2887379047131011,-2.410176622060196],[-0.21574626345854364,-2.337208737206681]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_32","position":[-0.28968820013537083,1.2051059021633135,0.71338606911949],"aabb_xy":[[-0.2938041502474434,1.2009903471304677],[-0.28557225002329806,1.2092214571961588]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6827629329169235,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4746.png","name":"4746"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4746.png","name":"4746"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7310.png","name":"7310"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7447.png","name":"7447"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7612.png","name":"7612"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3356.png","name":"3356"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":715.0045645161745,"rotation_z_degrees":115.8838106289248,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004567930461069517,0.014629779587354463,-0.008272047792958115]},{"name":"camera_2","offset_m":[-0.009044418501596097,-0.00854001202603572,-0.017996267469903567]},{"name":"camera_3","offset_m":[-0.00708549265531834,-0.013856913850964433,-0.003072227032707011]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011726043639452618,0.0010851529449261124,-0.0014015709112855622],"end_effector_yaw_offset_degrees":0.7301111096339266},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011302164477313662,0.0016689772422883455,0.0005925321660548741],"end_effector_yaw_offset_degrees":0.9022021132104259},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0012163890621482226,-0.0017440082535486756,-0.00014243294251588615],"end_effector_yaw_offset_degrees":0.15312302117086585}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001763621382709182,0.004954055432161194],"position_m":[0.35233637861729084,-0.07904594456783881,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0018063654395912817,0.0035052020380653267],"position_m":[0.2764063654395913,-0.32679479796193467,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0016717519892635812,0.002863828703998505],"position_m":[0.15902824801073642,0.2170638287039985,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.000379136162274688,0.003250269195528091],"position_m":[0.3437208638377253,0.11845026919552809,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"da0b0a00d7e59bcdba4dc46e0804396c9a13df0bc413d6fb0755f8db73cf7e61","episode_index":66,"episode_name":"episode_0066"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0066.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_4746/tex_ceiling_textures_3356/tex_floor_textures_7612/tex_table_textures_7310/tex_wall_textures_7447","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":2087765518223396889,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":2087765518223396889,"visual_seed":2087765518223396889,"scene_id":"lab_003","finished_at":"2026-09-04T03:00:02"} +{"episode_id":"ep_000067","started_at":"2026-09-04T03:00:05","dimensions":{"distractor":{"count":27,"items":[{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_0","position":[-0.5359616650661909,0.24717650171983951,0.71338606911949],"aabb_xy":[[-0.6159554886447491,0.16717649912699795],[-0.4559678414876327,0.3271765043126811]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_1","position":[-0.10661188487664708,-1.8478079612572627,0.71338606911949],"aabb_xy":[[-0.11402434041803555,-1.8536591716788904],[-0.0991994293352586,-1.8419567508356345]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_2","position":[-0.00375083047050373,0.9648716532927764,0.71338606911949],"aabb_xy":[[-0.011674110709252061,0.942371653054773],[0.0041724497682446016,0.9873716535307797]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_3","position":[0.055373253378770415,-2.1212762018186275,0.71338606911949],"aabb_xy":[[0.000373253757024572,-2.1762598946061007],[0.11037325300051626,-2.0662925090311552]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_4","position":[-0.6189192868034197,0.9056428694008143,0.71338606911949],"aabb_xy":[[-0.6243772324404397,0.8256428660931551],[-0.6134613411663996,0.9856428727084733]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_5","position":[-0.5041687500252896,-1.7314071841257175,0.71338606911949],"aabb_xy":[[-0.5641687506213058,-1.786219656670941],[-0.4441687494292734,-1.676594711580494]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_6","position":[-0.04416733800437922,-0.8448060394284349,0.71338606911949],"aabb_xy":[[-0.061078070440721,-0.8582782450210493],[-0.027256605568037443,-0.8313338338358203]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_7","position":[0.1655903948859827,0.7504600166784456,0.71338606911949],"aabb_xy":[[0.15402141413904613,0.725460016561514],[0.17715937563291928,0.7754600167953775]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_8","position":[0.004419217384443508,-1.6939154180000282,0.71338606911949],"aabb_xy":[[-0.02012699823830721,-1.7241643145490653],[0.028965433007194227,-1.6636665214509911]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_9","position":[-0.2904534780214123,0.8515316602295799,0.71338606911949],"aabb_xy":[[-0.35445347969940966,0.8030142687502657],[-0.22645347634341495,0.9000490517088942]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_10","position":[0.5477836156748701,-1.268222949225047,0.71338606911949],"aabb_xy":[[0.5133211376617822,-1.27488662640797],[0.5822460936879578,-1.261559272042124]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_11","position":[0.41879341999846553,-2.1299765491159803,0.71338606911949],"aabb_xy":[[0.38287991557347584,-2.1658900573327347],[0.4547069244234552,-2.094063040899225]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_12","position":[0.4697884204680969,-2.231981184266447,0.71338606911949],"aabb_xy":[[0.4632867839600923,-2.241749006292757],[0.47629005697610155,-2.2222133622401374]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_13","position":[0.15969523760471804,1.1119423371716808,0.71338606911949],"aabb_xy":[[0.1292109874776879,1.0619423373901848],[0.1901794877317482,1.1619423369531767]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_14","position":[0.27416363502682195,-0.7793886376242538,0.71338606911949],"aabb_xy":[[0.19416363786724666,-0.7909362385820708],[0.35416363218639724,-0.7678410366664368]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_15","position":[0.3666092042230542,-2.4285741996437578,0.71338606911949],"aabb_xy":[[0.31672650734535795,-2.478574198890033],[0.4164919011007504,-2.3785742003974835]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_16","position":[-0.47228323873896505,-0.3089388318364006,0.71338606911949],"aabb_xy":[[-0.5362832360413115,-0.35330525880425734],[-0.40828324143661865,-0.26457240486854383]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_17","position":[-0.2034515682355051,1.1889817578492328,0.71338606911949],"aabb_xy":[[-0.20808668338773847,1.1851144227720836],[-0.1988164530832717,1.192849092926381]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_18","position":[0.07155700154282696,-1.4964958018145182,0.71338606911949],"aabb_xy":[[0.049648319403475916,-1.518396468634609],[0.093465683682178,-1.4745951349944275]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_19","position":[-0.33381160328234344,-2.050136928060937,0.71338606911949],"aabb_xy":[[-0.418811601974418,-2.082122791455816],[-0.24881160459026874,-2.0181510646660583]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_20","position":[-0.3508769953123743,0.6666776971041339,0.71338606911949],"aabb_xy":[[-0.43087699389969375,0.587362095165973],[-0.2708769967250549,0.7459932990422948]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_21","position":[-0.24558599123105385,1.0111842662306878,0.71338606911949],"aabb_xy":[[-0.27058599039668696,1.0042320205253312],[-0.22058599206542073,1.0181365119360444]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_22","position":[-0.3271186333740704,-0.5298310064888003,0.71338606911949],"aabb_xy":[[-0.3320179256806338,-0.557507925791369],[-0.3222193410675068,-0.5021540871862314]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_23","position":[0.43373157125409123,1.5966020681648607,0.71338606911949],"aabb_xy":[[0.4190881657000582,1.5819433485080765],[0.44837497680812416,1.611260787821645]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_24","position":[-0.2733310301211958,-0.7912774845945798,0.71338606911949],"aabb_xy":[[-0.33733103341090387,-0.8346124035984973],[-0.20933102683148766,-0.7479425655906621]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_25","position":[-0.176210528976541,0.2598872601022979,0.71338606911949],"aabb_xy":[[-0.24021053102627302,0.21979277701298994],[-0.11221052692680902,0.29998174319160587]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_26","position":[0.25272188434825493,1.1480939325359825,0.71338606911949],"aabb_xy":[[0.24309024812782531,1.1384566197562733],[0.26235352056868455,1.1577312453156912]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6846959520578569,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8129.png","name":"8129"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8129.png","name":"8129"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/445.png","name":"445"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2206.png","name":"2206"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8884.png","name":"8884"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1796.png","name":"1796"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":582.972336783675,"rotation_z_degrees":283.7095640663143,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015921950512293354,0.002880462123249071,0.006819156156276415]},{"name":"camera_2","offset_m":[0.004534601671317411,-0.016428382194247713,0.0043000466681562925]},{"name":"camera_3","offset_m":[-0.006426277002389126,0.01403309297378712,-0.018168496202470862]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.000604778128132844,-0.0019103734609412033,0.0011274369416786087],"end_effector_yaw_offset_degrees":0.33766026031039},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016027077995402381,2.996497951094409e-05,0.001086844349110121],"end_effector_yaw_offset_degrees":-0.4564233016640753},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008100924222195359,0.0009176589405399511,0.0015392394081495016],"end_effector_yaw_offset_degrees":0.639104080933018}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0001363625653769615,0.0033293428276448362],"position_m":[0.35396363743462306,-0.08067065717235516,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001951536620948274,-0.0002511043946415194],"position_m":[0.2765515366209483,-0.3305511043946415,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003917578398436791,0.0013720960232095616],"position_m":[0.1646175783984368,0.21557209602320956,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00222928028221946,0.004794694428557368],"position_m":[0.34187071971778055,0.11999469442855737,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5d5038c7775beb2c545a40b8ec3f8e3a43b7bc080805dae8826b9cb70e980a11","episode_index":67,"episode_name":"episode_0067"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0067.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_8129/tex_ceiling_textures_1796/tex_floor_textures_8884/tex_table_textures_445/tex_wall_textures_2206","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":2049055092623888272,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":2049055092623888272,"visual_seed":2049055092623888272,"scene_id":"lab_003","finished_at":"2026-09-04T03:02:52"} +{"episode_id":"ep_000068","started_at":"2026-09-04T03:02:55","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_0","position":[0.46802031502942953,-2.043634957418042,0.71338606911949],"aabb_xy":[[0.4567752594588117,-2.0548767551421374],[0.47926537060004737,-2.032393159693947]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_1","position":[-0.39534416220413654,-2.5133526018505656,0.71338606911949],"aabb_xy":[[-0.4405154800523056,-2.5773525989951045],[-0.3501728443559676,-2.4493526047060277]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_2","position":[0.22011439716277603,-1.449572745547429,0.71338606911949],"aabb_xy":[[0.14011439918199095,-1.4571742865092807],[0.30011439514356103,-1.4419712045855768]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_3","position":[-0.06326042621441419,0.6501691025935576,0.71338606911949],"aabb_xy":[[-0.07096361688849122,0.6424597318948196],[-0.05555723554033713,0.6578784732922957]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_4","position":[-0.17111811589267534,-2.048401712215726,0.71338606911949],"aabb_xy":[[-0.20611811502263097,-2.05414693329139],[-0.13611811676271965,-2.042656491140062]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_5","position":[0.18913342661192156,-1.9868884461628218,0.71338606911949],"aabb_xy":[[0.16884912388852277,-2.007171071305531],[0.2094177293353203,-1.966605821020113]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_6","position":[0.10853335130757924,-1.8313614174084443,0.71338606911949],"aabb_xy":[[0.10050708067695326,-1.8401129123857969],[0.11655962193820525,-1.8226099224310917]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_7","position":[-0.008470547388138683,1.0394809697839134,0.71338606911949],"aabb_xy":[[-0.07247054381546059,0.9923113459618169],[0.05552944903918322,1.0866505936060098]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_8","position":[-0.6420648179378312,0.33969608832231035,0.71338606911949],"aabb_xy":[[-0.6766559007918762,0.27469608803727924],[-0.6074737350837858,0.40469608860734135]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_9","position":[0.44425625030782645,1.148203346858652,0.71338606911949],"aabb_xy":[[0.40675624879219474,1.1369765738425068],[0.48175625182345816,1.159430119874797]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_10","position":[-0.2980810540494196,1.6951779403348275,0.71338606911949],"aabb_xy":[[-0.30570532213959783,1.687544716798284],[-0.29045678595924135,1.7028111638713714]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_11","position":[0.5843468938704086,-1.1258285675307165,0.71338606911949],"aabb_xy":[[0.5742651867918351,-1.205828565422831],[0.5944286009489821,-1.0458285696386016]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_12","position":[-0.5692601350022026,1.3841042959486578,0.71338606911949],"aabb_xy":[[-0.6492601371649651,1.304149112322514],[-0.48926013283944014,1.4640594795748012]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_13","position":[-0.36826637337964435,0.027479088083957492,0.71338606911949],"aabb_xy":[[-0.3895443815231166,-0.037520914242115566],[-0.3469883652361721,0.09247909041003055]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_14","position":[0.15907688264348085,1.2894451021388162,0.71338606911949],"aabb_xy":[[0.0740768842260576,1.204570806676531],[0.24407688106090406,1.374319397601101]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_15","position":[-0.2682134863016164,-0.37972725662220075,0.71338606911949],"aabb_xy":[[-0.3332134863359191,-0.4264279333025281],[-0.20321348626731361,-0.3330265799418735]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_16","position":[0.3278416412445728,-1.602516232694882,0.71338606911949],"aabb_xy":[[0.2779589443668767,-1.6525162319411568],[0.37772433812226913,-1.5525162334486073]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_17","position":[-0.20032257255325714,-0.6390445999866445,0.71338606911949],"aabb_xy":[[-0.20682420906126178,-0.6488124220129544],[-0.19382093604525255,-0.6292767779603349]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_18","position":[-0.4703018298817148,-0.06459989424708246,0.71338606911949],"aabb_xy":[[-0.49280182940542216,-0.08709584169770322],[-0.44780183035800736,-0.04210394679646167]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_19","position":[-0.5625125179517201,-0.1965009622953482,0.71338606911949],"aabb_xy":[[-0.5850125179618684,-0.2105971819349515],[-0.5400125179415718,-0.18240474265574494]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_20","position":[0.4275718324755706,0.6695785761104935,0.71338606911949],"aabb_xy":[[0.39077719935066435,0.6326727010139113],[0.4643664656004769,0.7064844512070758]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_21","position":[0.03050401416346571,-2.4444641437349843,0.71338606911949],"aabb_xy":[[-0.04949598285078228,-2.464598695408395],[0.11050401117771369,-2.424329592061573]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_22","position":[0.22964754513667696,-1.2787264717905678,0.71338606911949],"aabb_xy":[[0.17965271220873535,-1.3287264706858115],[0.27964237806461856,-1.2287264728953244]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_23","position":[0.43875742698798703,0.3929224077884723,0.71338606911949],"aabb_xy":[[0.37475742968564063,0.34855598082061556],[0.5027574242903334,0.43728883475632907]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_24","position":[-0.5489775187004078,-0.8508900802410126,0.71338606911949],"aabb_xy":[[-0.5989706308095998,-0.9008900809152084],[-0.498984406591216,-0.8008900795668171]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6845220549821209,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8629.png","name":"8629"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8629.png","name":"8629"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6921.png","name":"6921"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1883.png","name":"1883"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5680.png","name":"5680"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1064.png","name":"1064"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":848.3339123752561,"rotation_z_degrees":352.05904715650865,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004346190782843054,0.01448208642807369,0.0013355517224641622]},{"name":"camera_2","offset_m":[0.0046551668615143205,0.012677055225229893,-0.01916863771012231]},{"name":"camera_3","offset_m":[-0.013256859602500773,-0.007264826696804186,0.012663141226488272]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013893578819068031,0.0003250817837043077,0.0011072031100381016],"end_effector_yaw_offset_degrees":-0.4746111372977351},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012956701258274497,-0.0009437925055398853,1.7588894182154775e-05],"end_effector_yaw_offset_degrees":0.6394280050473842},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0003013735063791341,-0.001424282903605521,-0.0013254167814569105],"end_effector_yaw_offset_degrees":0.3077727772514338}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002714622735770391,0.0012107946665195872],"position_m":[0.35138537726422964,-0.08278920533348041,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002689616314246409,0.0014531014372078984],"position_m":[0.2772896163142464,-0.3288468985627921,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0018140962469998943,0.0047591442779632],"position_m":[0.1588859037530001,0.2189591442779632,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0044603410545846055,0.00214950183725512],"position_m":[0.3396396589454154,0.11734950183725512,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5f7567331f5e0bfcc7091e3b4f4430e5e7753135a602102acb79b630664b7dc0","episode_index":68,"episode_name":"episode_0068"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0068.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_8629/tex_ceiling_textures_1064/tex_floor_textures_5680/tex_table_textures_6921/tex_wall_textures_1883","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":7173651797204175476,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":7173651797204175476,"visual_seed":7173651797204175476,"scene_id":"lab_003","finished_at":"2026-09-04T03:05:55"} +{"episode_id":"ep_000069","started_at":"2026-09-04T03:05:58","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_0","position":[0.4650689238667449,-0.8911004851676985,0.71338606911949],"aabb_xy":[[0.44289639689009397,-0.9132761523238214],[0.48724145084339565,-0.8689248180115751]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_1","position":[-0.06194013426712852,1.2566883348290316,0.71338606911949],"aabb_xy":[[-0.09694013345994679,1.245721288831369],[-0.02694013507431025,1.267655380826694]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_2","position":[0.2520242057442036,-1.023654308552434,0.71338606911949],"aabb_xy":[[0.242864326800327,-1.030185526595971],[0.2611840846880802,-1.0171230905088968]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_3","position":[0.1147359876513131,-0.8009399548085325,0.71338606911949],"aabb_xy":[[0.07973598629983135,-0.8212996907653534],[0.1497359890027948,-0.7805802188517117]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_4","position":[0.4268818995155754,0.8820098367995022,0.71338606911949],"aabb_xy":[[0.37690309100525954,0.8320098367937833],[0.4768607080258913,0.9320098368052209]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_5","position":[-0.6333291447498697,-1.8823119879363088,0.71338606911949],"aabb_xy":[[-0.6508758396659885,-1.91981198950056],[-0.6157824498337506,-1.8448119863720576]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_6","position":[-0.43675436415887386,-1.8360766962715807,0.71338606911949],"aabb_xy":[[-0.5167543621396589,-1.8436782372334324],[-0.3567543661780888,-1.8284751553097285]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_7","position":[-0.23979515775456395,1.070678768444414,0.71338606911949],"aabb_xy":[[-0.25036263741266296,1.0601337383314053],[-0.22922767809646494,1.0812237985574225]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_8","position":[-0.18869585296212799,-1.0030628380434352,0.71338606911949],"aabb_xy":[[-0.2526958493894499,-1.0502324618655314],[-0.12469585653480611,-0.9558932142213385]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_9","position":[-0.38879949595638236,-0.7547890307583591,0.71338606911949],"aabb_xy":[[-0.46879949311595764,-0.7663366317161759],[-0.30879949879680707,-0.7432414298005419]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_10","position":[0.5979152261123257,1.5506667140029546,0.71338606911949],"aabb_xy":[[0.5918205982242074,1.542097319451286],[0.604009854000444,1.5592361085546234]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_11","position":[-0.5306920000063746,0.2026980148416646,0.71338606911949],"aabb_xy":[[-0.540773707084948,0.12269801694954993],[-0.520610292927801,0.28269801273377926]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_12","position":[-0.5183713214923298,1.38095468188203,0.71338606911949],"aabb_xy":[[-0.5308386796020655,1.3684893572487065],[-0.5059039633825942,1.3934200065153535]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_13","position":[-0.5345047527785531,0.7583703381734539,0.71338606911949],"aabb_xy":[[-0.545345231005068,0.7411840568828051],[-0.5236642745520382,0.7755566194641027]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_14","position":[-0.31990021660460843,0.6383741893488764,0.71338606911949],"aabb_xy":[[-0.3839002185169508,0.5824630400908658],[-0.2559002146922661,0.6942853386068867]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_15","position":[-0.1658352812867011,-0.6072933596693049,0.71338606911949],"aabb_xy":[[-0.20438097411190212,-0.6458391307254935],[-0.12728958846150004,-0.5687475886131163]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_16","position":[-0.5347898905744426,-1.457322135248531,0.71338606911949],"aabb_xy":[[-0.5797898920406716,-1.502321992110012],[-0.48978988910821386,-1.4123222783870504]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_17","position":[-0.34705716552237065,-1.206439903490798,0.71338606911949],"aabb_xy":[[-0.39705027763156264,-1.2564399041649938],[-0.2970640534131788,-1.1564399028166026]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_18","position":[-0.6135487201262816,-1.0893338458695738,0.71338606911949],"aabb_xy":[[-0.6635487217877764,-1.1393322881252763],[-0.5635487184647868,-1.039335403613871]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_19","position":[-0.6635943021534021,0.9481356723915293,0.71338606911949],"aabb_xy":[[-0.6708380681996473,0.8681356741879269],[-0.6563505361071567,1.0281356705951317]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_20","position":[0.33274774833970877,-2.352212294189254,0.71338606911949],"aabb_xy":[[0.29774775006958887,-2.359286421884242],[0.3677477466098287,-2.345138166494266]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_21","position":[0.06736865536626424,-1.3882460587735201,0.71338606911949],"aabb_xy":[[-0.0126313451039517,-1.3965567663878686],[0.1473686558364802,-1.3799353511591717]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_22","position":[-0.1758185700238304,-1.964028700765914,0.71338606911949],"aabb_xy":[[-0.1884453573110267,-1.9735747744674867],[-0.163191782736634,-1.954482627064341]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_23","position":[-0.023670065234867477,-1.9512845983769305,0.71338606911949],"aabb_xy":[[-0.0736543009430447,-2.001284597190426],[0.02631417047330975,-1.9012845995634347]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_24","position":[-0.31657683052022145,-2.3621380236973,0.71338606911949],"aabb_xy":[[-0.32071268685292165,-2.3996380231416574],[-0.31244097418752126,-2.3246380242529434]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_25","position":[-0.6299530452869104,-2.135712078542277,0.71338606911949],"aabb_xy":[[-0.6348523375934738,-2.1633889978448453],[-0.6250537529803468,-2.1080351592397077]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_26","position":[0.1265753210391225,-2.1481903651912893,0.71338606911949],"aabb_xy":[[0.09157532106262667,-2.157654981238906],[0.16157532101561833,-2.1387257491436724]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.685285339322386,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2121.png","name":"2121"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2121.png","name":"2121"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8634.png","name":"8634"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2138.png","name":"2138"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7860.png","name":"7860"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6207.png","name":"6207"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":561.6354411254538,"rotation_z_degrees":215.14738212108028,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01364105608709043,-0.015702761234877773,-0.016902931542214256]},{"name":"camera_2","offset_m":[0.010409381530336898,-0.0014803094052366211,-0.01842361086523721]},{"name":"camera_3","offset_m":[0.003934902029951563,-0.008757569865878785,0.006768088158317122]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0003650549279469533,-0.00020224584265407237,-0.00048126929789646454],"end_effector_yaw_offset_degrees":0.6455111748291009},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00129732553068328,-0.0008601881021730279,-0.001380717376777836],"end_effector_yaw_offset_degrees":-0.5823866643231133},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006319133991877189,0.0003182441684049511,-0.0010856732358335984],"end_effector_yaw_offset_degrees":0.3508522320789542}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004719157166540896,0.002164853251746813],"position_m":[0.3493808428334591,-0.08183514674825319,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002768178270280146,1.0011474138573763e-05],"position_m":[0.27736817827028015,-0.3302899885258614,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0037742132618718413,0.0005798626985588562],"position_m":[0.16447421326187184,0.21477986269855887,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0024535444438207156,0.0012052774109202165],"position_m":[0.34655354444382075,0.11640527741092022,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b7c985c74fd8a0bdb2cf9274d8b740724a7eaa8456e494ea72caaacceb4fe40f","episode_index":69,"episode_name":"episode_0069"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0069.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_2121/tex_ceiling_textures_6207/tex_floor_textures_7860/tex_table_textures_8634/tex_wall_textures_2138","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":4600880651808582196,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":4600880651808582196,"visual_seed":4600880651808582196,"scene_id":"lab_003","finished_at":"2026-09-04T03:08:46"} +{"episode_id":"ep_000070","started_at":"2026-09-04T03:08:50","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_0","position":[0.37174833929749185,1.0665714003038969,0.71338606911949],"aabb_xy":[[0.36211670307706223,1.0569340875241877],[0.38137997551792147,1.0762087130836056]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_1","position":[0.31474989113134844,-2.0328403185086774,0.71338606911949],"aabb_xy":[[0.2774186146061058,-2.0674933733035297],[0.352081167656591,-1.9981872637138252]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_2","position":[0.5451634611172631,-0.48760394488878944,0.71338606911949],"aabb_xy":[[0.5029790469564324,-0.5516039451660006],[0.5873478752780938,-0.4236039446115783]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_3","position":[0.4623920321642838,0.5574795783848034,0.71338606911949],"aabb_xy":[[0.3823920351500358,0.5373450267113922],[0.5423920291785318,0.5776141300582147]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_4","position":[-0.26450398389588053,1.5183191558367493,0.71338606911949],"aabb_xy":[[-0.3094965706143309,1.4733191565623005],[-0.21951139717743007,1.563319155111198]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_5","position":[-0.34065000720466376,0.0875913003373121,0.71338606911949],"aabb_xy":[[-0.39065000822379903,0.051125084599484186],[-0.29065000618552844,0.12405751607514007]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_6","position":[0.5368476596849905,-1.375013080972449,0.71338606911949],"aabb_xy":[[0.456847662281397,-1.4550056521706318],[0.6168476570885838,-1.2950205097742662]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_7","position":[0.6477402698966437,-1.603986766060647,0.71338606911949],"aabb_xy":[[0.6321845004863785,-1.6195371993050545],[0.6632960393069091,-1.58843633281624]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_8","position":[0.2551667864544036,1.6326828692661972,0.71338606911949],"aabb_xy":[[0.19016678789733077,1.6029303358523146],[0.32016678501147644,1.6624354026800798]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_9","position":[0.6669243986633584,0.3245895936148342,0.71338606911949],"aabb_xy":[[0.6444107068399011,0.2545895930138266],[0.6894380904868155,0.39458959421584167]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_10","position":[-0.5035218642488072,0.2452613074420511,0.71338606911949],"aabb_xy":[[-0.593521863667178,0.21188581059786135],[-0.4135218648304362,0.2786368042862408]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_11","position":[-0.47943428865386817,0.9680311564744906,0.71338606911949],"aabb_xy":[[-0.529413097164184,0.9180311564687718],[-0.4294554801435523,1.0180311564802094]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_12","position":[-0.4683667576642108,-0.2910313018208086,0.71338606911949],"aabb_xy":[[-0.5033667575602296,-0.2994055373327485],[-0.433366757768192,-0.2826570663088686]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_13","position":[0.6409293612062597,-2.0539300925168456,0.71338606911949],"aabb_xy":[[0.5609293642432204,-2.131005734160619],[0.7209293581692987,-1.976854450873072]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_14","position":[0.7084861820466817,1.4427657085407923,0.71338606911949],"aabb_xy":[[0.7012424160004365,1.36276571033719],[0.7157299480929271,1.5227657067443947]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_15","position":[-0.41640999712494353,-0.48433786011298885,0.71338606911949],"aabb_xy":[[-0.4664099967012783,-0.5343184390650948],[-0.36640999754860887,-0.4343572811608829]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_16","position":[-0.6367460548938465,1.4135072768833976,0.71338606911949],"aabb_xy":[[-0.6845522225076152,1.3485072741763386],[-0.5889398872800778,1.4785072795904566]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_17","position":[-0.5492169375327536,-0.7847506988160273,0.71338606911949],"aabb_xy":[[-0.6132169339600755,-0.8319203226381239],[-0.4852169411054317,-0.737581074993931]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_18","position":[-0.3380733335013726,-1.3109385258255049,0.71338606911949],"aabb_xy":[[-0.34511364343490963,-1.3909385252251762],[-0.33103302356783565,-1.2309385264258335]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_19","position":[0.5694491463239424,1.5390664623017378,0.71338606911949],"aabb_xy":[[0.5144568956884316,1.4840664605584253],[0.6244413969594534,1.594066464045051]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_20","position":[0.11470661094663215,-1.0260496041804685,0.71338606911949],"aabb_xy":[[0.07970661175381386,-1.0370166501781308],[0.14970661013945039,-1.0150825581828054]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_21","position":[0.6714213954875545,-1.0864052558051922,0.71338606911949],"aabb_xy":[[0.653788559894027,-1.104028201820815],[0.6890542310810821,-1.068782309789569]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_22","position":[-0.18756022316713694,-0.17143199953667887,0.71338606911949],"aabb_xy":[[-0.26756022363735293,-0.17974270715102725],[-0.10756022269692103,-0.1631212919223305]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_23","position":[0.5994570557967147,0.030243232959892286,0.71338606911949],"aabb_xy":[[0.5418265869094437,-0.0297567659668183],[0.6570875246839855,0.09024323188660287]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6828903861320176,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5951.png","name":"5951"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5951.png","name":"5951"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/544.png","name":"544"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8826.png","name":"8826"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9459.png","name":"9459"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4337.png","name":"4337"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":577.3122246248532,"rotation_z_degrees":100.52007494160253,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014267262321787797,0.014262852385634139,0.00023211589963951715]},{"name":"camera_2","offset_m":[-0.007202099920531144,0.007195618858176007,0.0017573147880337418]},{"name":"camera_3","offset_m":[0.005929859049173786,-0.019775737205033686,0.009298443283090561]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001901118930270841,0.0017221331534938889,-0.0005032347950690759],"end_effector_yaw_offset_degrees":0.3484694173912206},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008426505499193231,-0.0011770829115838374,-0.0006860735198230489],"end_effector_yaw_offset_degrees":0.5938672495743307},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001051482643692117,0.0002832849544220687,0.0015534431952380565],"end_effector_yaw_offset_degrees":-0.06142394111219707}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0038873118896648245,0.0004049793557602318],"position_m":[0.35798731188966487,-0.08359502064423978,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0007226333078456182,-0.0013542583061885104],"position_m":[0.2738773666921544,-0.3316542583061885,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003980982264326465,0.00016589402052393822],"position_m":[0.16468098226432648,0.21436589402052394,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0023682702757826402,-0.003343628912647413],"position_m":[0.34646827027578264,0.11185637108735258,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"50079ff78c6ae50915b3de156d93be8d9c8b5a0fc9ce2382d5818649fc91c8a9","episode_index":70,"episode_name":"episode_0070"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0070.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_5951/tex_ceiling_textures_4337/tex_floor_textures_9459/tex_table_textures_544/tex_wall_textures_8826","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":1802826127557706807,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":1802826127557706807,"visual_seed":1802826127557706807,"scene_id":"lab_003","finished_at":"2026-09-04T03:11:29"} +{"episode_id":"ep_000071","started_at":"2026-09-04T03:11:32","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_0","position":[-0.045250005221328604,-1.403542912292164,0.71338606911949],"aabb_xy":[[-0.06275000449941548,-1.4208810123585098],[-0.02775000594324173,-1.386204812225818]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_1","position":[0.03425831628977949,-1.8997164075507738,0.71338606911949],"aabb_xy":[[0.01658268570118115,-1.917396623830176],[0.05193394687837782,-1.8820361912713706]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_2","position":[-0.5171527656022108,0.50638206184493,0.71338606911949],"aabb_xy":[[-0.6071527641966807,0.49013147553150904],[-0.42715276700774085,0.5226326481583511]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_3","position":[-0.0777065005543306,-0.7042748472140403,0.71338606911949],"aabb_xy":[[-0.09376842801284822,-0.789274849026632],[-0.06164457309581294,-0.6192748454014484]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_4","position":[-0.3931765490239995,1.7528185295942094,0.71338606911949],"aabb_xy":[[-0.44030592802583507,1.6888185285498072],[-0.34604717002216373,1.816818530638611]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_5","position":[-0.6400835351197466,-2.4106838908479507,0.71338606911949],"aabb_xy":[[-0.64807752369745,-2.418683970943041],[-0.6320895465420432,-2.40268381075286]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_6","position":[-0.12490510336576921,-2.0783594142181214,0.71338606911949],"aabb_xy":[[-0.1592020143835098,-2.1126563004280623],[-0.09060819234802855,-2.0440625280081797]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_7","position":[-0.5023789827246987,-0.6066570425730031,0.71338606911949],"aabb_xy":[[-0.5398789813003194,-0.6193933382365611],[-0.46487898414907786,-0.5939207469094452]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_8","position":[-0.17292774530902222,0.04647146462274909,0.71338606911949],"aabb_xy":[[-0.2190128365637537,-0.01752853262980601],[-0.12684265405429074,0.11047146187530421]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_9","position":[0.2140379557554717,-1.0235438357640554,0.71338606911949],"aabb_xy":[[0.1712712488760515,-1.0875438391858578],[0.2568046626348919,-0.9595438323422529]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_10","position":[0.44736364786114513,1.0458267384155846,0.71338606911949],"aabb_xy":[[0.4298636476018086,1.031735196226812],[0.46486364812048186,1.0599182806043572]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_11","position":[-0.6373662284047948,-1.4795232207187536,0.71338606911949],"aabb_xy":[[-0.6460641906955101,-1.4916481950262284],[-0.6286682661140796,-1.467398246411279]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_12","position":[-0.44424338487629655,0.876221459341219,0.71338606911949],"aabb_xy":[[-0.4742350476101669,0.8462214600044183],[-0.4142517221424262,0.9062214586780194]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_13","position":[0.2079205334570864,-2.091011924853639,0.71338606911949],"aabb_xy":[[0.14632977423309357,-2.155011922962686],[0.2695112926810792,-2.027011926744592]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_14","position":[-0.6689572965604279,-0.6714433857859641,0.71338606911949],"aabb_xy":[[-0.6941781334202675,-0.6966671366388507],[-0.6437364597005881,-0.6462196349330772]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_15","position":[0.5159987670994977,-1.7534116228744532,0.71338606911949],"aabb_xy":[[0.4941090195105568,-1.8434116201637023],[0.5378885146884383,-1.663411625585204]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_16","position":[0.3768731044541398,-0.7321896242783417,0.71338606911949],"aabb_xy":[[0.3218731062523949,-0.7727115909047793],[0.4318731026558846,-0.6916676576519041]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_17","position":[0.12229793145335477,1.205375414683266,0.71338606911949],"aabb_xy":[[0.03261085514523933,1.1153754144288153],[0.21198500776147022,1.2953754149377164]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_18","position":[0.20026912112883588,1.005967825117271,0.71338606911949],"aabb_xy":[[0.12026912005571555,0.9961897787798866],[0.2802691222019562,1.0157458714546554]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_19","position":[0.05097748478310282,1.4957729152185792,0.71338606911949],"aabb_xy":[[-0.039022518893815354,1.4343405086414747],[0.14097748846002098,1.5572053217956832]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_20","position":[-0.021859203073780198,0.6821808502070943,0.71338606911949],"aabb_xy":[[-0.08685920403090741,0.6302326382733887],[0.043140797883347,0.7341290621407999]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_21","position":[-0.4041072051380849,-1.6663153975371396,0.71338606911949],"aabb_xy":[[-0.41697910863902504,-1.7463153979509756],[-0.39123530163714476,-1.5863153971233033]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_22","position":[0.6381048739508741,0.6813328256397924,0.71338606911949],"aabb_xy":[[0.5741048753643015,0.6343258622402835],[0.7021048725374465,0.728339789039301]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_23","position":[-0.3793870320536123,1.0621658031463723,0.71338606911949],"aabb_xy":[[-0.38428632436017574,1.0344888838438033],[-0.37448773974704874,1.0898427224489409]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6775652618476389,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6113.png","name":"6113"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6113.png","name":"6113"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4433.png","name":"4433"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1853.png","name":"1853"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9229.png","name":"9229"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/337.png","name":"337"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":806.1501257694852,"rotation_z_degrees":175.91227231097417,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005604396234461361,0.00101289138107866,-0.0011291296734576954]},{"name":"camera_2","offset_m":[-0.013430888802551312,-0.0009043248218903698,-0.009545643317009436]},{"name":"camera_3","offset_m":[-0.015077262784952939,-0.0008553107368918407,-0.017596127312102222]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-8.873604304645297e-05,0.0003928050024981258,-0.0013996255006726735],"end_effector_yaw_offset_degrees":0.8115815467385565},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0003189372419862449,-0.0013224015460089667,-0.0007926142525740963],"end_effector_yaw_offset_degrees":-0.1519218383911225},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006237044438954986,0.0012614875508663971,-0.000768122948497243],"end_effector_yaw_offset_degrees":0.15545647343862834}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0024275772072529424,0.0046933438490253014],"position_m":[0.3516724227927471,-0.07930665615097471,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004686637791223259,0.002478618146980802],"position_m":[0.26991336220877676,-0.3278213818530192,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0043385920679696105,0.002969558942447285],"position_m":[0.16503859206796961,0.2171695589424473,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004638756710843847,-0.0008730654565921843],"position_m":[0.34873875671084387,0.11432693454340781,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a62de6f589231cff27a525053c43800fb3189bf5fd6a00f81b5b4d1cb538806a","episode_index":71,"episode_name":"episode_0071"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0071.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_6113/tex_ceiling_textures_337/tex_floor_textures_9229/tex_table_textures_4433/tex_wall_textures_1853","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":6890977144405188727,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":6890977144405188727,"visual_seed":6890977144405188727,"scene_id":"lab_003","finished_at":"2026-09-04T03:14:10"} +{"episode_id":"ep_000072","started_at":"2026-09-04T03:14:13","dimensions":{"distractor":{"count":23,"items":[{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_0","position":[0.5442043097577942,1.2463412322263023,0.71338606911949],"aabb_xy":[[0.5074096766328878,1.2094353571297198],[0.5809989428827004,1.2832471073228844]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_1","position":[-0.3957444622038998,0.1398805902745477,0.71338606911949],"aabb_xy":[[-0.4300413732216404,0.10558370406460629],[-0.3614475511861591,0.17417747648448903]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_2","position":[0.10669772139820499,1.3149305289570288,0.71338606911949],"aabb_xy":[[0.05169772222161549,1.259940854182071],[0.16169772057479448,1.3699202037319862]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_3","position":[0.11758060150771543,-1.2482267733122345,0.71338606911949],"aabb_xy":[[0.053580598289077574,-1.2949498852112429],[0.1815806047263533,-1.2015036614132262]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_4","position":[0.5488675188167167,-0.10006378836840168,0.71338606911949],"aabb_xy":[[0.5238675195447543,-0.11640915196456401],[0.5738675180886789,-0.08371842477223933]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_5","position":[-0.22084251434477165,0.5435825441892068,0.71338606911949],"aabb_xy":[[-0.2542826895407912,0.5101389183582766],[-0.187402339148752,0.5770261700201368]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_6","position":[0.21073387450281533,-0.6741360072809317,0.71338606911949],"aabb_xy":[[0.14573387354568812,-0.7260842192146373],[0.27573387545994255,-0.6221877953472261]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_7","position":[0.5002527900350235,-1.0361254578443644,0.71338606911949],"aabb_xy":[[0.49225880145732015,-1.0441255379394545],[0.5082467786127269,-1.0281253777492738]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_8","position":[-0.26812978520018793,-1.643939949000263,0.71338606911949],"aabb_xy":[[-0.30312978439300614,-1.6549069949979256],[-0.2331297860073696,-1.6329729030026001]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_9","position":[-0.4454220936726896,-0.7382403625757534,0.71338606911949],"aabb_xy":[[-0.4533453739114379,-0.7607403628137568],[-0.43749881343394126,-0.7157403623377501]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_10","position":[0.09746242152211915,-2.4001485727679137,0.71338606911949],"aabb_xy":[[0.03346672412702256,-2.464148571068622],[0.16145811891721573,-2.3361485744672046]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_11","position":[0.17711363933019242,-1.666639207279045,0.71338606911949],"aabb_xy":[[0.16524155631869128,-1.7516392069726954],[0.1889857223416935,-1.5816392075853947]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_12","position":[-0.09865236444352221,-1.5605882133432283,0.71338606911949],"aabb_xy":[[-0.1118036104148116,-1.5855882130999153],[-0.08550111847223286,-1.5355882135865422]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_13","position":[-0.19673560971654103,1.636325874975761,0.71338606911949],"aabb_xy":[[-0.2607356104200104,1.5903074925028402],[-0.13273560901307171,1.6823442574486822]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_14","position":[-0.01511300347115263,-1.9846387489156652,0.71338606911949],"aabb_xy":[[-0.06511300383171868,-2.0346187361252683],[0.03488699688941343,-1.9346587617060622]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_15","position":[-0.2813947244988109,-2.3612604498268084,0.71338606911949],"aabb_xy":[[-0.37139472817572905,-2.422692856403912],[-0.19139472082189268,-2.299828043249703]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_16","position":[-0.447214664463652,-0.06538074794471394,0.71338606911949],"aabb_xy":[[-0.4697110858975161,-0.08788074775146137],[-0.4247182430297879,-0.042880748137966496]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_17","position":[-0.4752190521391006,-0.24342093870805925,0.71338606911949],"aabb_xy":[[-0.48080072377322935,-0.25592093852583475],[-0.46963738050497184,-0.23092093889028376]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_18","position":[0.28742534422660193,1.2506280441250142,0.71338606911949],"aabb_xy":[[0.2622045073667622,1.225404293272127],[0.31264618108644154,1.2758517949779005]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_19","position":[0.5249992625815785,-1.7457545418065092,0.71338606911949],"aabb_xy":[[0.5024992625714302,-1.7598507614461127],[0.5474992625917268,-1.7316583221669062]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_20","position":[0.6302506155465346,-0.302740282446778,0.71338606911949],"aabb_xy":[[0.5402506158233603,-0.32581363498195776],[0.7202506152697087,-0.2796669299115981]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_21","position":[-0.41862011033929086,-0.6284495723497305,0.71338606911949],"aabb_xy":[[-0.45612011028305727,-0.6367426623845672],[-0.38112011039552446,-0.6201564823148941]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_22","position":[0.5625258161330513,-1.9998221810704284,0.71338606911949],"aabb_xy":[[0.5009350569090585,-2.0638221791794757],[0.6241165753570441,-1.9358221829613818]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6819187110725128,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8224.png","name":"8224"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8224.png","name":"8224"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8266.png","name":"8266"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6859.png","name":"6859"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/825.png","name":"825"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1852.png","name":"1852"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":752.2373122286139,"rotation_z_degrees":145.18887944423906,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0018331296394076303,0.019504191659799396,-0.016974856242172473]},{"name":"camera_2","offset_m":[0.012141877818141193,0.003150521144575834,0.018216530528591183]},{"name":"camera_3","offset_m":[0.001105985772992809,-0.013413021888820792,0.0062042354138298235]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017634913038959538,0.0003222497603120162,0.001611218730327608],"end_effector_yaw_offset_degrees":0.5873737229048424},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00016729367725631158,0.0019191448781420472,-0.0017285768562923032],"end_effector_yaw_offset_degrees":0.08865317178479626},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00022758603552238375,-0.0003601987416172183,0.00047058387257637455],"end_effector_yaw_offset_degrees":-0.6754935835301463}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0028578798288191416,-0.001366409035075158],"position_m":[0.35695787982881916,-0.08536640903507517,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00032603101523708943,0.0013702440008510428],"position_m":[0.2742739689847629,-0.3289297559991489,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00023878900481667884,0.004937782518749268],"position_m":[0.1609387890048167,0.21913778251874927,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0028962338705143197,-0.0008408271479446372],"position_m":[0.3412037661294857,0.11435917285205537,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"32711aee930cd9303142e9ec5634f5824ec3ec04b4d359a110633f5b38e0df1b","episode_index":72,"episode_name":"episode_0072"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0072.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_8224/tex_ceiling_textures_1852/tex_floor_textures_825/tex_table_textures_8266/tex_wall_textures_6859","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":8441462912073638229,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":8441462912073638229,"visual_seed":8441462912073638229,"scene_id":"lab_003","finished_at":"2026-09-04T03:16:58"} +{"episode_id":"ep_000073","started_at":"2026-09-04T03:17:01","dimensions":{"distractor":{"count":20,"items":[{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_0","position":[0.10957016333657899,-1.6512015784011418,0.71338606911949],"aabb_xy":[[0.08707374190271489,-1.6737015782078895],[0.13206658477044309,-1.6287015785943946]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_1","position":[-0.680377286960132,0.3195545473090897,0.71338606911949],"aabb_xy":[[-0.695020692514165,0.30489582765230544],[-0.665733881406099,0.334213266965874]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_2","position":[-0.004827731565360316,1.0845501349527709,0.71338606911949],"aabb_xy":[[-0.017699635066300453,1.0045501345389345],[0.008044171935579823,1.1645501353666068]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_3","position":[0.21496059559409642,0.7071685096135414,0.71338606911949],"aabb_xy":[[0.1774605953019216,0.7031270342129377],[0.25246059588627123,0.7112099850141449]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_4","position":[0.0892163862116514,-0.7826550081441979,0.71338606911949],"aabb_xy":[[0.07797133064103356,-0.7938968058682931],[0.10046144178226923,-0.7714132104201026]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_5","position":[-0.4957866990156391,-0.19576849429197996,0.71338606911949],"aabb_xy":[[-0.5409580168638082,-0.25976849143651837],[-0.4506153811674702,-0.13176849714744154]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_6","position":[0.48177716703550844,-1.3329617935630866,0.71338606911949],"aabb_xy":[[0.47243015945321315,-1.347265415780731],[0.4911241746178036,-1.3186581713454428]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_7","position":[-0.09384023596231594,-2.5453706085971977,0.71338606911949],"aabb_xy":[[-0.11675594884736584,-2.568274905733621],[-0.07092452307726603,-2.522466311460774]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_8","position":[-0.3094021530964203,-2.197658137070925,0.71338606911949],"aabb_xy":[[-0.31284282933647745,-2.20151957004529],[-0.3059614768563631,-2.193796704096561]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_9","position":[0.1870941521210312,1.486396459230647,0.71338606911949],"aabb_xy":[[0.1294636832337603,1.4263964603039359],[0.244724621008302,1.5463964581573568]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_10","position":[0.09225826834763096,-2.4076063306016744,0.71338606911949],"aabb_xy":[[0.0866765967135022,-2.4201063304194497],[0.09783993998175972,-2.395106330783899]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_11","position":[-0.35855532076799684,-1.1416559968865103,0.71338606911949],"aabb_xy":[[-0.4485553244449149,-1.2030884034636145],[-0.2685553170910786,-1.0802235903094057]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_12","position":[0.12168404963930912,-1.1730255153635187,0.71338606911949],"aabb_xy":[[0.08464994021124941,-1.207402722697228],[0.15871815906736883,-1.138648308029809]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_13","position":[0.5808090106112171,-1.17908640900561,0.71338606911949],"aabb_xy":[[0.5458090107151982,-1.1874606445175497],[0.6158090105072359,-1.17071217349367]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_14","position":[-0.5011728227899593,1.0753668348291692,0.71338606911949],"aabb_xy":[[-0.5511720979583955,1.025366833553222],[-0.4511735476215232,1.1253668361051163]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_15","position":[-0.51459493209979,-0.38622357029271326,0.71338606911949],"aabb_xy":[[-0.5745949319463568,-0.4430421924857519],[-0.4545949322532232,-0.3294049480996745]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_16","position":[0.4330443413246585,1.3843814193694954,0.71338606911949],"aabb_xy":[[0.4080443420526962,1.368036055773333],[0.45804434059662075,1.4007267829656578]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_17","position":[-0.09974757019914549,-1.2396109537534918,0.71338606911949],"aabb_xy":[[-0.14973052038662477,-1.289610953396052],[-0.04976462001166613,-1.1896109541109312]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_18","position":[0.42111812617305255,-1.8563203002252053,0.71338606911949],"aabb_xy":[[0.4052336329077274,-1.8706732405240294],[0.4370026194383777,-1.8419673599263813]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_19","position":[0.4212106055451348,-1.158878919868409,0.71338606911949],"aabb_xy":[[0.3837106057281013,-1.1635171311795507],[0.4587106053621684,-1.154240708557267]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6832399211119867,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4168.png","name":"4168"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4168.png","name":"4168"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8468.png","name":"8468"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4218.png","name":"4218"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5080.png","name":"5080"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1377.png","name":"1377"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":562.1530837310687,"rotation_z_degrees":30.826804098665082,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0100824704519593,0.0031245538637679933,-0.017381265762349947]},{"name":"camera_2","offset_m":[0.010309364156180417,0.006590137070654957,0.019507845576694164]},{"name":"camera_3","offset_m":[-0.006345344370868564,-0.00912951120040109,0.005882041093072072]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00019942141379787007,-0.0008851440917656461,-0.001983702557543727],"end_effector_yaw_offset_degrees":0.9856639960963673},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0004294553797487867,0.0014173876538508142,-0.00048265334251755706],"end_effector_yaw_offset_degrees":0.9224000609020169},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-1.502505060227595e-06,-0.0010711994316491228,0.0016119532455967206],"end_effector_yaw_offset_degrees":-0.28806913956645164}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003562601088183158,-0.0010677766719402867],"position_m":[0.35053739891181684,-0.08506777667194029,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0009830142326320698,0.0010085783892586882],"position_m":[0.2755830142326321,-0.3292914216107413,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0025221478345812376,0.002937139244742956],"position_m":[0.15817785216541877,0.21713713924474295,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0028184756146404305,0.003261984108096228],"position_m":[0.34691847561464045,0.11846198410809622,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1726e8df3e1cb977a55477414accf83d3fcd5f6fbae1022d3fa3f6debd478d70","episode_index":73,"episode_name":"episode_0073"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0073.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_4168/tex_ceiling_textures_1377/tex_floor_textures_5080/tex_table_textures_8468/tex_wall_textures_4218","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":9053451483882138893,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":9053451483882138893,"visual_seed":9053451483882138893,"scene_id":"lab_003","finished_at":"2026-09-04T03:19:59"} +{"episode_id":"ep_000074","started_at":"2026-09-04T03:20:01","dimensions":{"distractor":{"count":34,"items":[{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_0","position":[0.361491073771975,-1.589774525861869,0.71338606911949],"aabb_xy":[[0.271491071437956,-1.6672568804469818],[0.4514910761059941,-1.5122921712767565]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_1","position":[0.6978385616069751,1.164310733867297,0.71338606911949],"aabb_xy":[[0.6846076160722937,1.1510833148452975],[0.7110695071416563,1.1775381528892963]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_2","position":[0.6837751536641086,-2.4599099585704316,0.71338606911949],"aabb_xy":[[0.6719030706526076,-2.544909958264082],[0.6956472366756098,-2.3749099588767812]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_3","position":[-0.12056063158935193,0.5093663983602337,0.71338606911949],"aabb_xy":[[-0.13806063072371907,0.4994867713226458],[-0.10306063245498474,0.5192460253978214]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_4","position":[-0.3255294899052542,-1.712850797507186,0.71338606911949],"aabb_xy":[[-0.33048551009013544,-1.735350797709308],[-0.3205734697203731,-1.6903507973050647]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_5","position":[-0.21010053258442196,0.2003167696264172,0.71338606911949],"aabb_xy":[[-0.2901005358484351,0.18675673731750386],[-0.1301005293204088,0.21387680193533054]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_6","position":[-0.2681278818900869,1.6916584348196833,0.71338606911949],"aabb_xy":[[-0.33312787977173475,1.6405347711131426],[-0.20312788400843917,1.7427820985262243]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_7","position":[0.5858010574984431,-0.27955384816998174,0.71338606911949],"aabb_xy":[[0.5218010589118707,-0.32656081156949046],[0.6498010560850156,-0.23254688477047303]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_8","position":[0.03118436634795052,-0.7776793412938652,0.71338606911949],"aabb_xy":[[0.010900063624551754,-0.7979619664365738],[0.05146866907134927,-0.7573967161511561]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_9","position":[0.006257726000155395,-1.0209603252678456,0.71338606911949],"aabb_xy":[[-0.0432226952138034,-1.0849603231806975],[0.055738147214114186,-0.9569603273549938]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_10","position":[0.3195891015671839,-0.6136742441197816,0.71338606911949],"aabb_xy":[[0.26961580756392345,-0.6636742446743289],[0.36956239557044435,-0.5636742435652342]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_11","position":[-0.2909725698131938,1.7947975982456703,0.71338606911949],"aabb_xy":[[-0.29441324605325103,1.790936165271306],[-0.2875318935731367,1.798659031220035]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_12","position":[-0.48622763907574207,-0.7892577769204605,0.71338606911949],"aabb_xy":[[-0.5502276412961491,-0.8336308610457488],[-0.422227636855335,-0.7448846927951722]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_13","position":[0.4372280791212788,0.8718673043522087,0.71338606911949],"aabb_xy":[[0.42747208961210487,0.8621047702929742],[0.44698406863045265,0.881629838411443]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_14","position":[0.16807613780267938,-1.4772476829480452,0.71338606911949],"aabb_xy":[[0.1180830256934875,-1.5272476836222413],[0.2180692499118713,-1.4272476822738498]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_15","position":[-0.4911553282183795,-0.3142967159006975,0.71338606911949],"aabb_xy":[[-0.5411546033868158,-0.3642967171766447],[-0.4411560530499434,-0.26429671462475035]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_16","position":[-0.6049959980722485,0.39599225047299935,0.71338606911949],"aabb_xy":[[-0.6849959954758418,0.3159996792748165],[-0.5249960006686549,0.4759848216711821]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_17","position":[-0.14162201738745184,0.8225062205107108,0.71338606911949],"aabb_xy":[[-0.16411843882131594,0.8000062207039632],[-0.11912559595358774,0.8450062203174581]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_18","position":[0.18923655450655352,1.7018172511978071,0.71338606911949],"aabb_xy":[[0.1640157176467138,1.6765935003449204],[0.21445739136639314,1.7270410020506939]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_19","position":[0.5279276665155885,0.4681426898947665,0.71338606911949],"aabb_xy":[[0.4379276697799782,0.4149592265774719],[0.6179276632511986,0.521326153212061]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_20","position":[0.16806918721629294,-0.9636037044473591,0.71338606911949],"aabb_xy":[[0.16410870344655856,-0.9712715690328797],[0.1720296709860273,-0.9559358398618385]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_21","position":[-0.6168126976616469,0.9609737757750385,0.71338606911949],"aabb_xy":[[-0.6400945398597782,0.8759737744778104],[-0.5935308554635155,1.0459737770722666]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_22","position":[-0.4532448266684861,-1.2183649362899078,0.71338606911949],"aabb_xy":[[-0.5182448248244051,-1.24466118083982],[-0.38824482851256703,-1.1920686917399956]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_23","position":[-0.48687457329901496,-1.384897575983966,0.71338606911949],"aabb_xy":[[-0.5104596967629098,-1.449897578229398],[-0.4632894498351201,-1.3198975737385343]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_24","position":[-0.4250336950421989,-0.6101295891829026,0.71338606911949],"aabb_xy":[[-0.4625336957067776,-0.6258166471831247],[-0.3875336943776202,-0.5944425311826803]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_25","position":[-0.46942147374798876,-2.5713743823390094,0.71338606911949],"aabb_xy":[[-0.47668272131839623,-2.584161392602519],[-0.4621602261775814,-2.5585873720755]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_26","position":[0.576254075859681,0.0672523921033914,0.71338606911949],"aabb_xy":[[0.5112540758253783,0.02055171542306411],[0.6412540758939838,0.11395306878371869]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_27","position":[0.1416625776408318,1.446847440992245,0.71338606911949],"aabb_xy":[[0.11874686475578192,1.4239431438558214],[0.16457829052588172,1.4697517381286684]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_28","position":[-0.4444250387393483,-0.963961792304515,0.71338606911949],"aabb_xy":[[-0.44856089507204855,-1.0014617917488722],[-0.44028918240664816,-0.9264617928601581]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_29","position":[0.012768742014386159,-2.238231078909306,0.71338606911949],"aabb_xy":[[-0.00969602795701896,-2.260731079788166],[0.03523351198579128,-2.215731078030445]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_30","position":[0.32611427563235607,-2.159928955732597,0.71338606911949],"aabb_xy":[[0.29165179761926824,-2.1665926329155196],[0.3605767536454438,-2.153265278549674]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_31","position":[0.5294908329165084,-0.7361431435658188,0.71338606911949],"aabb_xy":[[0.5082128247730361,-0.8011431458918917],[0.5507688410599806,-0.6711431412397456]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_32","position":[0.6626775419342221,0.7048868011429299,0.71338606911949],"aabb_xy":[[0.6076775427576325,0.6498971263679721],[0.7176775411108115,0.7598764759178874]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_33","position":[0.5663227236360897,0.8619834403442534,0.71338606911949],"aabb_xy":[[0.56224456572904,0.8579024600959901],[0.5704008815431394,0.8660644205925168]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6853374080419896,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8220.png","name":"8220"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8220.png","name":"8220"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1278.png","name":"1278"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4136.png","name":"4136"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6755.png","name":"6755"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7744.png","name":"7744"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":778.7389953786735,"rotation_z_degrees":248.30107253083446,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01620219965508667,-0.0017110073484170076,0.002011671206911491]},{"name":"camera_2","offset_m":[0.006480687299457128,0.007730497236265999,-0.008320938043387401]},{"name":"camera_3","offset_m":[-0.013759911539772917,-0.010580543208442745,0.01099192109606779]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0010113266104740393,-0.00011730881567902692,-0.0012507871172298323],"end_effector_yaw_offset_degrees":0.03137975048497932},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00011285898197132193,-0.00021838171330798768,0.000722129448987334],"end_effector_yaw_offset_degrees":-0.8835699105870798},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018842603622314044,0.001720187600384609,0.0005865243696332872],"end_effector_yaw_offset_degrees":-0.8571472887403095}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001378544922359115,-0.004651867093099098],"position_m":[0.35547854492235914,-0.08865186709309911,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0020679477497425455,-0.0013673239352377676],"position_m":[0.27666794774974257,-0.33166732393523773,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00044971046225166303,0.0003587315078607701],"position_m":[0.16114971046225168,0.21455873150786078,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0016049506857071872,-0.003432378903680952],"position_m":[0.3424950493142928,0.11176762109631905,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7cc66c32c88507765ed0cd0f74160024b5b8bd50dac02acd643ac2120ee9d009","episode_index":74,"episode_name":"episode_0074"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0074.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_8220/tex_ceiling_textures_7744/tex_floor_textures_6755/tex_table_textures_1278/tex_wall_textures_4136","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":497793919523695516,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":497793919523695516,"visual_seed":497793919523695516,"scene_id":"lab_003","finished_at":"2026-09-04T03:22:40"} +{"episode_id":"ep_000075","started_at":"2026-09-04T03:22:43","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_0","position":[0.0209345519010532,1.4040062249781347,0.71338606911949],"aabb_xy":[[-0.016565447915980358,1.3993680136669928],[0.05843455171808676,1.4086444362892765]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_1","position":[-0.19213521304385117,-2.195898201484075,0.71338606911949],"aabb_xy":[[-0.2721352117007372,-2.210403060408338],[-0.11213521438696517,-2.181393342559812]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_2","position":[-0.5847313773171319,-1.9629694847106214,0.71338606911949],"aabb_xy":[[-0.6347101858274476,-2.01296948471634],[-0.5347525688068159,-1.9129694847049026]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_3","position":[-0.5154777633437584,0.4767182722285521,0.71338606911949],"aabb_xy":[[-0.5804777643008856,0.4247700602948466],[-0.45047776238663123,0.5286664841622577]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_4","position":[-0.08134735927433567,-0.7802970517679673,0.71338606911949],"aabb_xy":[[-0.11884736078996738,-0.7915238247841122],[-0.043847357758703964,-0.7690702787518221]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_5","position":[-0.19131691268547768,0.23941606313326114,0.71338606911949],"aabb_xy":[[-0.20107290219465151,0.2296535290740267],[-0.18156092317630373,0.24917859719249558]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_6","position":[-0.5665878072008087,1.0929069813788468,0.71338606911949],"aabb_xy":[[-0.6305878035963817,1.0289436929601132],[-0.5025878108052355,1.1568702697975803]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_7","position":[-0.43624053901493115,0.07620174167774518,0.71338606911949],"aabb_xy":[[-0.491240537216676,0.0356797750513076],[-0.3812405408131863,0.11672370830418277]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_8","position":[0.6988899924775513,-0.10529324667048501,0.71338606911949],"aabb_xy":[[0.6908965026822693,-0.11329137861096068],[0.7068834822728334,-0.09729511473000936]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_9","position":[-0.4419892907329079,-1.139562934207227,0.71338606911949],"aabb_xy":[[-0.4665355063556586,-1.1698118307562642],[-0.41744307511015716,-1.10931403765819]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_10","position":[-0.1130444912592925,1.457811702882608,0.71338606911949],"aabb_xy":[[-0.16804449088103834,1.4028280100951354],[-0.058044491637546644,1.5127953956700808]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_11","position":[-0.32237419276846635,-2.0775569779353833,0.71338606911949],"aabb_xy":[[-0.3399524949574132,-2.0951314675094883],[-0.3047958905795195,-2.0599824883612783]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_12","position":[0.6449230551121019,-2.1198150601465446,0.71338606911949],"aabb_xy":[[0.6074230543201063,-2.1261829011047344],[0.6824230559040972,-2.113447219188354]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_13","position":[-0.4526725343206922,-1.3656079883109884,0.71338606911949],"aabb_xy":[[-0.5026725353398276,-1.4020742040488166],[-0.402672533301557,-1.3291417725731607]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_14","position":[-0.24055365842426063,1.2691126607557344,0.71338606911949],"aabb_xy":[[-0.258053591858244,1.2516126608354998],[-0.22305372499027726,1.286612660675969]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_15","position":[0.12971527792569504,-1.817793523628889,0.71338606911949],"aabb_xy":[[0.10679956504064517,-1.8406978207653126],[0.15263099081074497,-1.7948892264924656]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_16","position":[-0.5815913535395167,-2.132021755886724,0.71338606911949],"aabb_xy":[[-0.5990913528176036,-2.1493598559530698],[-0.5640913542614299,-2.114683655820378]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_17","position":[-0.20507936802966947,0.9966249178205282,0.71338606911949],"aabb_xy":[[-0.29507936662413947,0.9803743315071073],[-0.11507936943519956,1.0128755041339494]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_18","position":[-0.15515627184577763,0.8194786066341258,0.71338606911949],"aabb_xy":[[-0.17643427998924985,0.7544786043080525],[-0.13387826370230535,0.8844786089601986]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_19","position":[0.5227077243601428,0.7732016941688218,0.71338606911949],"aabb_xy":[[0.43770772566806804,0.7412158307739428],[0.6077077230522173,0.8051875575637005]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_20","position":[-0.3320750394350041,0.5971021779720993,0.71338606911949],"aabb_xy":[[-0.41207504269901724,0.583542145663186],[-0.252075036170991,0.6106622102810126]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_21","position":[-0.28990789427499025,-0.2178836112114526,0.71338606911949],"aabb_xy":[[-0.32640371490226894,-0.2543675536382102],[-0.25341207364771146,-0.18139966878469505]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_22","position":[0.38941095169228634,0.38246186650494085,0.71338606911949],"aabb_xy":[[0.3669109514487709,0.37025723184516895],[0.4119109519358017,0.39466650116471286]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6841541683893869,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1080.png","name":"1080"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1080.png","name":"1080"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2367.png","name":"2367"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6453.png","name":"6453"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1013.png","name":"1013"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6041.png","name":"6041"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":633.9416545325166,"rotation_z_degrees":260.9098021791213,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009620983215769076,-0.0027097027300455566,0.005449099650924053]},{"name":"camera_2","offset_m":[-0.015161157093407162,-0.001657784759219138,0.011867353485571368]},{"name":"camera_3","offset_m":[-0.005525549342039695,0.0006854642568815822,-0.01105598145123524]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00034357459329989654,9.240508090192431e-05,0.0015452940294316086],"end_effector_yaw_offset_degrees":0.8048814742404804},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017917441315596543,0.0011199031776191284,-0.00047941125760036477],"end_effector_yaw_offset_degrees":-0.9808762348476328},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001079169720973916,0.0010216456732274263,0.000586350611400182],"end_effector_yaw_offset_degrees":0.6710976336208332}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003149966766357538,-0.0031451877585354205],"position_m":[0.35724996676635756,-0.08714518775853543,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002130006601246577,0.0011976210126149241],"position_m":[0.2767300066012466,-0.32910237898738504,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0007224970644822406,0.0028957312659192045],"position_m":[0.16142249706448225,0.21709573126591922,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004871600182115135,-0.002979559697374572],"position_m":[0.34897160018211515,0.11222044030262543,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ad672c3b9f573693208751f071cd597da4d11b897134076e34b7a6b4b2047cdc","episode_index":75,"episode_name":"episode_0075"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0075.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_1080/tex_ceiling_textures_6041/tex_floor_textures_1013/tex_table_textures_2367/tex_wall_textures_6453","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":5544756155118974006,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":5544756155118974006,"visual_seed":5544756155118974006,"scene_id":"lab_003","finished_at":"2026-09-04T03:25:24"} +{"episode_id":"ep_000076","started_at":"2026-09-04T03:25:27","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_0","position":[0.4945306369890077,-2.322477656801477,0.71338606911949],"aabb_xy":[[0.4295306384319348,-2.3522301902153595],[0.5595306355460805,-2.2927251233875943]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_1","position":[-0.13133879383346703,-1.0152767239689877,0.71338606911949],"aabb_xy":[[-0.1953387911358134,-1.0596431509368445],[-0.0673387965311206,-0.970910297001131]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_2","position":[0.04609284986904749,-1.0346098749425126,0.71338606911949],"aabb_xy":[[-0.017907147243058197,-1.0836422447369232],[0.11009284698115318,-0.9855775051481019]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_3","position":[-0.07612693585767061,-1.3714051272211656,0.71338606911949],"aabb_xy":[[-0.1401269379074026,-1.4114996103104736],[-0.012126933807938611,-1.3313106441318576]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_4","position":[0.03354588148587456,-1.5315559861574584,0.71338606911949],"aabb_xy":[[-0.021454116715870265,-1.5720779527838957],[0.0885458796876194,-1.4910340195310205]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_5","position":[-0.44899806519200886,-0.2246866861828125,0.71338606911949],"aabb_xy":[[-0.5129980674124159,-0.2690597703081008],[-0.3849980629716018,-0.18031360205752422]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_6","position":[-0.21467886348043574,0.11931349147351833,0.71338606911949],"aabb_xy":[[-0.22812539011447908,0.10584363982042709],[-0.2012323368463924,0.13278334312660955]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_7","position":[0.34115650508665185,0.5151415423162877,0.71338606911949],"aabb_xy":[[0.33304285041327475,0.5070357258622586],[0.34927015976002895,0.5232473587703168]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_8","position":[-0.5161684204731006,0.4927661254069946,0.71338606911949],"aabb_xy":[[-0.5275301551263867,0.4813976590007065],[-0.5048066858198144,0.5041345918132827]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_9","position":[0.14584033585152445,1.253808652446879,0.71338606911949],"aabb_xy":[[0.13784634727382103,1.2458085723517884],[0.15383432442922781,1.2618087325419691]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_10","position":[-0.5921322397029195,1.434320798867685,0.71338606911949],"aabb_xy":[[-0.5994145560795829,1.3443207952581757],[-0.5848499233262556,1.5243208024771937]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_11","position":[-0.19002908778918393,1.515986270612609,0.71338606911949],"aabb_xy":[[-0.24002908736551865,1.466005691660503],[-0.1400290882128492,1.565966849564715]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_12","position":[-0.46079980738421006,-1.6813604807934897,0.71338606911949],"aabb_xy":[[-0.5207998072307769,-1.7381791029865283],[-0.4007998075376432,-1.624541858600451]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_13","position":[0.3597504662364326,0.6265162077251922,0.71338606911949],"aabb_xy":[[0.32241918971119,0.59186315293034],[0.3970817427616752,0.6611692625200445]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_14","position":[-0.025778507176433374,1.1415006432916104,0.71338606911949],"aabb_xy":[[-0.05029213127343923,1.117236049989574],[-0.001264883079427518,1.1657652365936468]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_15","position":[0.6152188206066176,1.1291364496222678,0.71338606911949],"aabb_xy":[[0.5991568931480997,1.044136447809676],[0.631280748065135,1.2141364514348596]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_16","position":[0.3288254869293328,-0.5504640372295109,0.71338606911949],"aabb_xy":[[0.238825490428461,-0.596375679647969],[0.4188254834302045,-0.5045523948110525]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_17","position":[0.2157314408651595,1.5208748526135705,0.71338606911949],"aabb_xy":[[0.16073919022964858,1.4658748508702577],[0.2707236915006705,1.5758748543568835]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_18","position":[-0.2497934629223585,-1.6948845302050142,0.71338606911949],"aabb_xy":[[-0.2997934642832457,-1.7448624347804296],[-0.19979346156147126,-1.6449066256295983]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_19","position":[0.5582116188376469,1.6243190032017698,0.71338606911949],"aabb_xy":[[0.508232810327331,1.574319003196051],[0.6081904273479628,1.6743190032074886]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_20","position":[-0.16170004301991003,1.141761449285494,0.71338606911949],"aabb_xy":[[-0.16894380906615536,1.0617614510818913],[-0.1544562769736647,1.221761447489096]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_21","position":[0.3714667668473812,0.3517918441418346,0.71338606911949],"aabb_xy":[[0.3617107773382073,0.3420293100826001],[0.38122275635655506,0.361554378201069]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_22","position":[-0.5285238082462576,1.597821755320989,0.71338606911949],"aabb_xy":[[-0.5660238097618893,1.586594982304844],[-0.49102380673062584,1.609048528337134]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6824574312944944,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6985.png","name":"6985"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6985.png","name":"6985"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8502.png","name":"8502"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6011.png","name":"6011"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7042.png","name":"7042"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2186.png","name":"2186"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":566.8277563819693,"rotation_z_degrees":176.7196781789969,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.003996446546745597,-0.01720835098784792,0.0035859064066705547]},{"name":"camera_2","offset_m":[-0.0070027944547430155,-0.003860164380063525,0.0018939879806636646]},{"name":"camera_3","offset_m":[-0.014948713591703076,-0.01747289634055974,-0.015024114943458651]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0004787059429878738,-0.0006568452673557275,0.0019655353240595613],"end_effector_yaw_offset_degrees":0.9132202516070949},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00032179158297158885,-0.0019696842461364703,0.00048702682344587116],"end_effector_yaw_offset_degrees":0.40506309803415763},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017148439680927075,0.0008495304431758843,0.0006430436831250529],"end_effector_yaw_offset_degrees":0.14347424097782624}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00333681859905498,-0.0029246414982572813],"position_m":[0.357436818599055,-0.0869246414982573,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002906969338936218,-0.004373628622719042],"position_m":[0.2716930306610638,-0.33467362862271904,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0013129876819346067,0.0007356191417791438],"position_m":[0.1593870123180654,0.21493561914177914,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0036469875964870394,-0.001233903360961248],"position_m":[0.340453012403513,0.11396609663903876,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5bc7295cd39babcfe6af11994e1ee0c9abbbff1aeb2121c13617bc410e399764","episode_index":76,"episode_name":"episode_0076"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0076.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_6985/tex_ceiling_textures_2186/tex_floor_textures_7042/tex_table_textures_8502/tex_wall_textures_6011","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":4119498527948334900,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":4119498527948334900,"visual_seed":4119498527948334900,"scene_id":"lab_003","finished_at":"2026-09-04T03:28:07"} +{"episode_id":"ep_000077","started_at":"2026-09-04T03:28:13","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_0","position":[-0.20975060920805677,0.5244541004041965,0.71338606911949],"aabb_xy":[[-0.24725060970541501,0.5204854168560781],[-0.17225060871069853,0.5284227839523149]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_1","position":[-0.44270591815637594,-0.08141061804185146,0.71338606911949],"aabb_xy":[[-0.4553086172934524,-0.09400601426671695],[-0.4301032190192995,-0.06881522181698596]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_2","position":[-0.34242875577173315,-1.8038088174202866,0.71338606911949],"aabb_xy":[[-0.39742196710886996,-1.8588088177590802],[-0.2874355444345964,-1.748808817081493]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_3","position":[-0.07111117291936475,0.4199976482503578,0.71338606911949],"aabb_xy":[[-0.12111117249569947,0.37001706929825184],[-0.021111173343030032,0.46997822720246374]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_4","position":[-0.18129253227605502,-0.3464711624482879,0.71338606911949],"aabb_xy":[[-0.191860011934154,-0.3570161925612964],[-0.17072505261795598,-0.3359261323352793]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_5","position":[-0.3652574353542477,0.9776051990009456,0.71338606911949],"aabb_xy":[[-0.375410450908397,0.9415356574282049],[-0.35510441980009827,1.0136747405736855]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_6","position":[-0.04190690554798748,-1.6690981935123896,0.71338606911949],"aabb_xy":[[-0.13190690788200654,-1.746580548097502],[0.048093096786031575,-1.5916158389272768]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_7","position":[0.046475485762317637,1.724642281196552,0.71338606911949],"aabb_xy":[[-0.0035245155985695813,1.6746643766211362],[0.09647548712320486,1.7746201857719675]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_8","position":[0.34539675806990155,-0.9561283972412478,0.71338606911949],"aabb_xy":[[0.34006424341528857,-0.9614527254864834],[0.35072927272451454,-0.9508040689960123]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_9","position":[-0.23826706252123736,0.26866404538882405,0.71338606911949],"aabb_xy":[[-0.30826706465266684,0.24590207976312833],[-0.1682670603898078,0.29142601101451965]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_10","position":[0.1849554550945275,-2.163283561448215,0.71338606911949],"aabb_xy":[[0.17771168904828216,-2.2432835596518172],[0.1921992211407728,-2.0832835632446125]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_11","position":[-0.17933236186049883,1.343304336033846,0.71338606911949],"aabb_xy":[[-0.21618290979748644,1.3058043352108122],[-0.14248181392351122,1.3808043368568796]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_12","position":[-0.5164708711634659,-0.3649016469555515,0.71338606911949],"aabb_xy":[[-0.5251848402134002,-0.3874016476147396],[-0.5077569021135312,-0.34240164629636316]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_13","position":[-0.4363589641829721,0.7483590669297286,0.71338606911949],"aabb_xy":[[-0.4455188431268488,0.7418278488861916],[-0.4271990852390956,0.7548902849732657]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_14","position":[-0.17091591431201036,-0.5903911523368277,0.71338606911949],"aabb_xy":[[-0.18792601160206102,-0.6065256408351016],[-0.1539058170219597,-0.5742566638385538]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_15","position":[-0.6464218513177703,-0.23153202134626527,0.71338606911949],"aabb_xy":[[-0.653463302268518,-0.23855877308405982],[-0.6393804003670228,-0.22450526960847073]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_16","position":[-0.5851801431125306,0.2338122336531554,0.71338606911949],"aabb_xy":[[-0.5905177187785353,0.20881223272401564],[-0.5798425674465262,0.2588122345822952]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_17","position":[0.4514207267085544,0.0860064325631793,0.71338606911949],"aabb_xy":[[0.416420728397859,0.07829141763963365],[0.4864207250192499,0.09372144748672495]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_18","position":[-0.21006453889110854,1.6343255620869974,0.71338606911949],"aabb_xy":[[-0.21948201346097126,1.6249093849492784],[-0.20064706432124577,1.6437417392247164]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_19","position":[-0.23997259400233684,1.701279007430982,0.71338606911949],"aabb_xy":[[-0.2475968620925151,1.6936457838944383],[-0.23234832591215862,1.7089122309675258]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_20","position":[-0.3038292150633569,-1.9611409576145158,0.71338606911949],"aabb_xy":[[-0.3678292142331268,-2.007907644733478],[-0.23982921589358694,-1.914374270495553]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_21","position":[0.6308211364529768,1.3128535431517898,0.71338606911949],"aabb_xy":[[0.6105368337295778,1.2925709180090807],[0.6511054391763753,1.3331361682944984]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_22","position":[0.69228506766956,0.33464038600974266,0.71338606911949],"aabb_xy":[[0.6829914494324094,0.29714038752160876],[0.7015786859067106,0.37214038449787656]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_23","position":[0.3299750776422501,-1.2913796030232847,0.71338606911949],"aabb_xy":[[0.29653490244623043,-1.3248232288542143],[0.36341525283826964,-1.2579359771923542]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_24","position":[-0.5407069595692333,0.9667199874974055,0.71338606911949],"aabb_xy":[[-0.5782069603612288,0.9603521465392154],[-0.5032069587772379,0.9730878284555956]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_25","position":[0.5518675819983694,-1.3340330848527386,0.71338606911949],"aabb_xy":[[0.5343208870822503,-1.37153308641699],[0.5694142769144882,-1.2965330832884874]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_26","position":[-0.08266854530383416,0.2392662451884351,0.71338606911949],"aabb_xy":[[-0.09071190522978934,0.15426624409306866],[-0.07462518537787899,0.3242662462838015]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_27","position":[0.12908692886580098,-2.4858781309464546,0.71338606911949],"aabb_xy":[[0.07910951200054737,-2.5358781324357027],[0.17906434573105454,-2.4358781294572056]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_28","position":[-0.3722508679992732,0.4915762202044949,0.71338606911949],"aabb_xy":[[-0.41079656082447424,0.4530304491483062],[-0.33370517517407217,0.5301219912606835]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_29","position":[0.6222611989457469,-1.9249964218969948,0.71338606911949],"aabb_xy":[[0.6158473853025619,-1.9314062421446627],[0.6286750125889318,-1.918586601649326]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_30","position":[-0.5721773420816291,-1.3937263149802572,0.71338606911949],"aabb_xy":[[-0.6361773443020361,-1.4380993991055453],[-0.508177339861222,-1.3493532308549687]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_31","position":[0.6472502284360955,-1.3068399733170117,0.71338606911949],"aabb_xy":[[0.6097502286190618,-1.3114781846281534],[0.6847502282531289,-1.3022017620058697]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_32","position":[0.32956619214686267,0.8735462948517436,0.71338606911949],"aabb_xy":[[0.3009168597864464,0.8449007355746677],[0.35821552450727884,0.9021918541288193]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_33","position":[0.5793425814176452,-0.2649490283664919,0.71338606911949],"aabb_xy":[[0.5447514985635997,-0.3299490286515229],[0.6139336642716902,-0.19994902808146084]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_34","position":[0.36172621309589204,-1.5415985328569197,0.71338606911949],"aabb_xy":[[0.35626826745887197,-1.6215985361645786],[0.3671841587329121,-1.4615985295492604]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6881581631059345,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9854.png","name":"9854"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9854.png","name":"9854"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7356.png","name":"7356"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3400.png","name":"3400"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5390.png","name":"5390"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8327.png","name":"8327"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":737.4045521631392,"rotation_z_degrees":297.73301632157893,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0156852028581625,0.005163190116882505,-0.014607626729350464]},{"name":"camera_2","offset_m":[0.014714878136223217,0.0006325897130081103,-0.01285288813283017]},{"name":"camera_3","offset_m":[0.008968823673310426,-0.011283933104981627,-0.01611138828178568]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009708923268581431,0.0015143781966338028,-0.0016407026861285257],"end_effector_yaw_offset_degrees":0.27495350256119977},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00019439016352666835,-0.0018066253400334108,0.0015168449281168636],"end_effector_yaw_offset_degrees":0.8082991480767217},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00013998417794519017,0.0005051798027860687,0.0010332867694517215],"end_effector_yaw_offset_degrees":0.11968639276074122}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004733287165034901,0.0027536284309803314],"position_m":[0.3493667128349651,-0.08124637156901968,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00493754424683739,-0.0020060091739059105],"position_m":[0.2795375442468374,-0.3323060091739059,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0015061946548720717,-0.0006294730735199724],"position_m":[0.15919380534512795,0.21357052692648004,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00034656771985163044,-0.004803022230017808],"position_m":[0.3437534322801484,0.11039697776998218,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"de854589c985164a9511cf53e66cbc980133ea674f93b94829c8f7b107998c87","episode_index":77,"episode_name":"episode_0077"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0077.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_9854/tex_ceiling_textures_8327/tex_floor_textures_5390/tex_table_textures_7356/tex_wall_textures_3400","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":7555513603316058829,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":7555513603316058829,"visual_seed":7555513603316058829,"scene_id":"lab_003","finished_at":"2026-09-04T03:30:49"} +{"episode_id":"ep_000078","started_at":"2026-09-04T03:30:52","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_0","position":[-0.21333928686458414,-1.1315557674759336,0.71338606911949],"aabb_xy":[[-0.22146697505789736,-1.1404693758866413],[-0.20521159867127092,-1.1226421590652258]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_1","position":[0.5873208449727056,-1.1540398677145085,0.71338606911949],"aabb_xy":[[0.5373208446121396,-1.2040198549241115],[0.6373208453332717,-1.1040598805049056]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_2","position":[-0.5752099873025003,1.0557699497442132,0.71338606911949],"aabb_xy":[[-0.6402099854584195,1.0294737051943008],[-0.5102099891465813,1.0820661942941252]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_3","position":[-0.43935755787250075,-2.2530914225860483,0.71338606911949],"aabb_xy":[[-0.5033575611622088,-2.2964263415899655],[-0.3753575545827926,-2.2097565035821303]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_4","position":[-0.08710787644178086,-0.9993300278014383,0.71338606911949],"aabb_xy":[[-0.09794835466829577,-1.0165163090920872],[-0.07626739821526596,-0.9821437465107895]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_5","position":[-0.5175650356098574,1.4310774020680008,0.71338606911949],"aabb_xy":[[-0.5271966718302871,1.4214400892882917],[-0.5079333993894278,1.4407147148477095]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_6","position":[0.5085136099301868,-0.9323174771954501,0.71338606911949],"aabb_xy":[[0.5014721589794392,-0.9393442289332445],[0.5155550608809344,-0.9252907254576554]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_7","position":[0.2790352099261252,1.2836656173527863,0.71338606911949],"aabb_xy":[[0.2620251126360745,1.2675311288545121],[0.2960453072161758,1.29980010585106]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_8","position":[0.40301632360756856,-0.6814797050165153,0.71338606911949],"aabb_xy":[[0.3480163254058236,-0.7220016716429529],[0.4580163218093133,-0.6409577383900777]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_9","position":[0.6396879367516486,0.5735573833957819,0.71338606911949],"aabb_xy":[[0.603774432326659,0.5376438751790272],[0.6756014411766382,0.6094708916125365]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_10","position":[0.6530886420592583,1.6132764237816342,0.71338606911949],"aabb_xy":[[0.6450946534815547,1.6052763436865436],[0.6610826306369615,1.6212765038767243]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_11","position":[-0.11389879763587574,-1.1534690838437076,0.71338606911949],"aabb_xy":[[-0.12514385320649357,-1.164710881567803],[-0.1026537420652579,-1.1422272861196123]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_12","position":[-0.2036774494005097,-1.6965455580794346,0.71338606911949],"aabb_xy":[[-0.22867744867247197,-1.7128909216755965],[-0.1786774501285474,-1.6802001944832718]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_13","position":[0.153959996810627,-2.46357340124105,0.71338606911949],"aabb_xy":[[0.11271118578071225,-2.518573400753267],[0.1952088078405417,-2.408573401728832]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_14","position":[-0.5452955756177646,-1.7175194953584487,0.71338606911949],"aabb_xy":[[-0.5572283099795927,-1.729901648166308],[-0.5333628412559366,-1.7051373425505894]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_15","position":[0.6230975716832758,-0.15190215371003335,0.71338606911949],"aabb_xy":[[0.5874684157833161,-0.18753482046688627],[0.6587267275832356,-0.11626948695318037]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_16","position":[0.1590673933770098,-2.227414576600311,0.71338606911949],"aabb_xy":[[0.10908858486669393,-2.27741457660603],[0.2090462018873257,-2.1774145765945923]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_17","position":[0.4618811684214841,0.11729868338839511,0.71338606911949],"aabb_xy":[[0.4544687128800956,0.11144747296676714],[0.46929362396287255,0.12314989381002305]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_18","position":[0.46490752267193547,-1.2233001752424626,0.71338606911949],"aabb_xy":[[0.4474075233938486,-1.2406382753088083],[0.48240752195002234,-1.2059620751761164]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_19","position":[-0.3042060224879959,1.172502428599786,0.71338606911949],"aabb_xy":[[-0.36820602276197406,1.1224363284024983],[-0.2402060222140176,1.2225685287970742]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_20","position":[0.37734636162837365,-2.3219528288752427,0.71338606911949],"aabb_xy":[[0.352800146005623,-2.3522017254242797],[0.4018925772511244,-2.2917039323262056]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_21","position":[0.22296554577027106,-1.9224763968059697,0.71338606911949],"aabb_xy":[[0.21853491641543085,-1.9279247685406524],[0.2273961751251112,-1.917028025071287]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_22","position":[-0.6229445681677269,1.2067121062596726,0.71338606911949],"aabb_xy":[[-0.6729376802769188,1.1567121055854772],[-0.572951456058535,1.2567121069338685]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_23","position":[0.07013466756431874,-0.8282705487707918,0.71338606911949],"aabb_xy":[[0.06209130763836357,-0.9132705498661582],[0.07817802749027392,-0.7432705476754253]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_24","position":[0.5064794524709344,-0.40170525545372593,0.71338606911949],"aabb_xy":[[0.4424794553588287,-0.45073762524813654],[0.5704794495830401,-0.3526728856593153]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6804843125706834,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6042.png","name":"6042"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6042.png","name":"6042"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9609.png","name":"9609"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2589.png","name":"2589"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7288.png","name":"7288"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8549.png","name":"8549"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":842.4951667056841,"rotation_z_degrees":119.02612467892853,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013801415848188916,-0.0022979039728624785,0.008570704174928653]},{"name":"camera_2","offset_m":[-0.0034953995281416968,0.013590790133399724,-0.01796714132187566]},{"name":"camera_3","offset_m":[0.014741850242883724,0.0012277381943065699,-0.01660403820715888]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00041239033004124314,-0.0017156368273896852,0.0007411032304695275],"end_effector_yaw_offset_degrees":0.2470403363396505},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007826100129861308,0.0005335357581759512,0.00039499232192720043],"end_effector_yaw_offset_degrees":0.37962286166143966},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0003076975833646652,0.00011637348503107684,0.0005804845312679884],"end_effector_yaw_offset_degrees":-0.5062247400056696}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004088177120107271,-0.00035238175855529987],"position_m":[0.3581881771201073,-0.0843523817585553,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006360380064634871,0.0037868220580518563],"position_m":[0.2739639619935365,-0.3265131779419481,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0025032137935088483,0.0014839253621694764],"position_m":[0.15819678620649116,0.2156839253621695,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0002538680683092029,-0.0007483883608061072],"position_m":[0.34384613193169083,0.11445161163919389,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3b9815adbd2b7193a149ca30f086f5a6d630bdb4ffc43e940ecb23e9f21fc8d6","episode_index":78,"episode_name":"episode_0078"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0078.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_6042/tex_ceiling_textures_8549/tex_floor_textures_7288/tex_table_textures_9609/tex_wall_textures_2589","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":4235431479950400980,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":4235431479950400980,"visual_seed":4235431479950400980,"scene_id":"lab_003","finished_at":"2026-09-04T03:33:45"} +{"episode_id":"ep_000079","started_at":"2026-09-04T03:33:48","dimensions":{"distractor":{"count":24,"items":[{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_0","position":[0.05886236132320921,-1.1678825621978737,0.71338606911949],"aabb_xy":[[0.02386236142719034,-1.1762567977098137],[0.09386236121922809,-1.1595083266859336]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_1","position":[-0.059387378560165516,0.8943906374814268,0.71338606911949],"aabb_xy":[[-0.08188379999402962,0.8718906376746793],[-0.03689095712630141,0.9168906372881742]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_2","position":[0.4979585000617246,-2.1484504755792653,0.71338606911949],"aabb_xy":[[0.427958497930295,-2.1712124412049607],[0.5679585021931541,-2.125688509953569]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_3","position":[0.6545907258745858,1.311940376881132,0.71338606911949],"aabb_xy":[[0.6376799934382439,1.2984681712885169],[0.6715014583109274,1.3254125824737462]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_4","position":[-0.16330827786143354,0.6768548253406879,0.71338606911949],"aabb_xy":[[-0.1803183751514842,0.6607203368424138],[-0.14629818057138289,0.6929893138389617]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_5","position":[-0.5550331855389918,-0.9871023832801136,0.71338606911949],"aabb_xy":[[-0.6450331892159098,-1.0485347898572177],[-0.46503318186207343,-0.925669976703009]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_6","position":[-0.31503111980914855,-0.8496706204966753,0.71338606911949],"aabb_xy":[[-0.39503112008275554,-0.922620168322392],[-0.2350311195355416,-0.7767210726709586]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_7","position":[-0.10208823024484792,-2.325623113365472,0.71338606911949],"aabb_xy":[[-0.12458736597107488,-2.3481231141437346],[-0.07958909451862094,-2.303123112587209]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_8","position":[-0.1728494055966504,-0.6525380106903653,0.71338606911949],"aabb_xy":[[-0.18097709378996363,-0.661451619101073],[-0.1647217174033372,-0.6436244022796577]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_9","position":[-0.3432985494605724,-1.4402232594957671,0.71338606911949],"aabb_xy":[[-0.3621829332290826,-1.45910918427612],[-0.3244141656920622,-1.4213373347154143]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_10","position":[0.5376313659271563,1.1039123103253154,0.71338606911949],"aabb_xy":[[0.5097863291465492,1.0731278115870038],[0.5654764027077634,1.1346968090636271]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_11","position":[0.3460037742633626,1.4923506723919542,0.71338606911949],"aabb_xy":[[0.32350377473965514,1.469854724941333],[0.36850377378706994,1.5148466198425745]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_12","position":[-0.4798559680074806,0.402500773851294,0.71338606911949],"aabb_xy":[[-0.5598559650217285,0.3823662221778828],[-0.3998559709932326,0.42263532552470534]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_13","position":[0.6337885320205063,-1.9311267091490671,0.71338606911949],"aabb_xy":[[0.611288532206604,-1.9356013255195479],[0.6562885318344087,-1.9266520927785864]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_14","position":[-0.4562799724142864,-2.4091983347420904,0.71338606911949],"aabb_xy":[[-0.5462799691498965,-2.462381798059385],[-0.36627997567867615,-2.356014871424796]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_15","position":[-0.6134369361923913,0.7535641393028327,0.71338606911949],"aabb_xy":[[-0.6509369363642631,0.7208634039199254],[-0.5759369360205192,0.7862648746857398]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_16","position":[0.6368603225900265,0.15104549820829805,0.71338606911949],"aabb_xy":[[0.6242335353028301,0.14149942450672515],[0.6494871098772228,0.16059157190987094]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_17","position":[0.2690617947082179,-2.508543005374712,0.71338606911949],"aabb_xy":[[0.21906179513188323,-2.5585235843268186],[0.31906179428455267,-2.4585624264226067]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_18","position":[0.3167543939845705,-0.827514874227687,0.71338606911949],"aabb_xy":[[0.23675439600378542,-0.8351164151895388],[0.3967543919653555,-0.8199133332658349]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_19","position":[-0.4637413627307636,-0.5647408605523663,0.71338606911949],"aabb_xy":[[-0.5137201712410795,-0.6147408605580851],[-0.41376255422044766,-0.5147408605466475]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_20","position":[-0.5454801666006752,-0.25745953798662446,0.71338606911949],"aabb_xy":[[-0.5563859426882379,-0.3374595343854536],[-0.5345743905131125,-0.1774595415877953]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_21","position":[-0.11764405667156685,-1.0965842848295069,0.71338606911949],"aabb_xy":[[-0.18163975406666344,-1.1605842831302153],[-0.05364835927647027,-1.032584286528798]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_22","position":[-0.12492507990195145,1.563087033715202,0.71338606911949],"aabb_xy":[[-0.18892507701405714,1.5140546639207915],[-0.06092508278984575,1.6121194035096127]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_23","position":[-0.18891318165961135,-1.422675810671153,0.71338606911949],"aabb_xy":[[-0.23891318294345132,-1.472654665061775],[-0.13891318037577138,-1.3726969562805307]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6812909364772194,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4759.png","name":"4759"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4759.png","name":"4759"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6824.png","name":"6824"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8954.png","name":"8954"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6206.png","name":"6206"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/103.png","name":"103"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":500.7158483089106,"rotation_z_degrees":120.00321718064679,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018193550559024496,0.0046867426036408776,-0.011602886279803189]},{"name":"camera_2","offset_m":[0.003054327912507874,0.009464798557301903,-0.003392455237578723]},{"name":"camera_3","offset_m":[0.009351784362224481,0.015522640757190665,0.018297882101049403]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015138355713013372,0.0005437271068802719,0.001823470148968742],"end_effector_yaw_offset_degrees":0.7270085368310288},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0019805949390483066,-0.0009096024376532054,-0.001017581712764433],"end_effector_yaw_offset_degrees":0.827491953156096},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000458409718639855,1.7667608476619207e-05,0.0002213617417987754],"end_effector_yaw_offset_degrees":0.7149920279544935}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0012548282346287322,0.004941681668499975],"position_m":[0.3528451717653713,-0.07905831833150002,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0004205749575216487,0.004038559748342143],"position_m":[0.27502057495752164,-0.3262614402516578,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0007940070211112996,0.000143880861740389],"position_m":[0.1614940070211113,0.2143438808617404,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0015141895483748113,-0.0006801055460806437],"position_m":[0.34258581045162523,0.11451989445391936,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f8758585e47c796771377bdc21189e246392a35ab1ded074fee8aad120f69c41","episode_index":79,"episode_name":"episode_0079"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0079.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_4759/tex_ceiling_textures_103/tex_floor_textures_6206/tex_table_textures_6824/tex_wall_textures_8954","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":579846178119826412,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":579846178119826412,"visual_seed":579846178119826412,"scene_id":"lab_003","finished_at":"2026-09-04T03:36:24"} +{"episode_id":"ep_000080","started_at":"2026-09-04T03:36:27","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_0","position":[-0.46718484266223004,-0.8060947705992589,0.71338606911949],"aabb_xy":[[-0.5221585646985629,-0.8610947701634921],[-0.41221112062589715,-0.7510947710350258]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_1","position":[-0.17666599863844812,-2.498686744634221,0.71338606911949],"aabb_xy":[[-0.2227510898931796,-2.5626867418867763],[-0.13058090738371664,-2.434686747381666]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_2","position":[-0.6009696824811862,-2.22871619181735,0.71338606911949],"aabb_xy":[[-0.6292993924297264,-2.2331769340110665],[-0.572639972532646,-2.2242554496236324]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_3","position":[-0.38088392802880755,1.6431914238943484,0.71338606911949],"aabb_xy":[[-0.4153464060418953,1.6365277467114256],[-0.3464214500157198,1.649855101077271]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_4","position":[0.3948215087485345,-2.024118798677697,0.71338606911949],"aabb_xy":[[0.37098529110792955,-2.1141187994861834],[0.41865772638913973,-1.9341187978692105]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_5","position":[0.21304021042491228,-2.533562640495327,0.71338606911949],"aabb_xy":[[0.18264209932576866,-2.563969542496996],[0.24343832152405584,-2.503155738493657]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_6","position":[-0.1014799537497374,0.04054675503800276,0.71338606911949],"aabb_xy":[[-0.11612335930377037,0.025888035381218477],[-0.0868365481957044,0.05520547469478704]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_7","position":[-0.17994065989506147,-1.5153137409204798,0.71338606911949],"aabb_xy":[[-0.26994065961823566,-1.5383870934556592],[-0.0899406601718873,-1.4922403883852995]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_8","position":[-0.5363652817683927,-2.382868451613816,0.71338606911949],"aabb_xy":[[-0.5596471239665239,-2.467868452911043],[-0.5130834395702613,-2.297868450316587]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_9","position":[-0.41030348947213013,-2.3319734959511496,0.71338606911949],"aabb_xy":[[-0.4602985004315822,-2.3819734949867417],[-0.3603084785126781,-2.2819734969155583]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_10","position":[-0.2800391459902108,1.4776362501834561,0.71338606911949],"aabb_xy":[[-0.360039143149786,1.4660886492256389],[-0.20003914883063545,1.489183851141273]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_11","position":[0.35352887093468377,0.67497360315499,0.71338606911949],"aabb_xy":[[0.3160288707628118,0.6422728677720827],[0.39102887110655565,0.7076743385378971]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_12","position":[-0.5341632825353525,-0.43530476898117065,0.71338606911949],"aabb_xy":[[-0.5716632840509842,-0.44653154199731576],[-0.4966632810197208,-0.42407799596502566]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_13","position":[0.16003109118435233,-1.3586144354298377,0.71338606911949],"aabb_xy":[[0.11003109160801763,-1.408595014381944],[0.21003109076068707,-1.308633856477732]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_14","position":[0.5532501355689499,0.7988855521144904,0.71338606911949],"aabb_xy":[[0.5157501343841568,0.7944673294184299],[0.5907501367537424,0.8033037748105509]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_15","position":[-0.07352594322283557,-0.7253204802027173,0.71338606911949],"aabb_xy":[[-0.09711106668673043,-0.7903204824481491],[-0.04994081975894073,-0.6603204779572855]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_16","position":[0.28604144596735337,0.48732239352507456,0.71338606911949],"aabb_xy":[[0.2811421536607898,0.4596454742225058],[0.2909407382739168,0.5149993128276433]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_17","position":[0.7119862076278107,0.678742782003876,0.71338606911949],"aabb_xy":[[0.7066536929731978,0.6734184537586406],[0.7173187222824239,0.6840671102491117]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_18","position":[0.3411963109868561,-1.5162942892546425,0.71338606911949],"aabb_xy":[[0.26119631071324906,-1.589243837080359],[0.42119631126046303,-1.4433447414289255]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_19","position":[0.5610914385005115,-1.818084583910275,0.71338606911949],"aabb_xy":[[0.5510097314219379,-1.8980845818023893],[0.5711731455790848,-1.73808458601816]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_20","position":[-0.2963965340134647,0.31954337970686275,0.71338606911949],"aabb_xy":[[-0.34139653547969356,0.27454352284538214],[-0.2513965325472359,0.3645432365683435]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_21","position":[0.4686385785837426,-1.6677537501923863,0.71338606911949],"aabb_xy":[[0.4605108903904294,-1.676667358603094],[0.47676626677705586,-1.6588401417816785]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_22","position":[0.16129993903884388,-2.21283157651077,0.71338606911949],"aabb_xy":[[0.14379993879379446,-2.2303313643503366],[0.17879993928389323,-2.195331788671203]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_23","position":[0.06800303411810782,1.7968431509900022,0.71338606911949],"aabb_xy":[[0.05455650748406449,1.783373299336911],[0.08144956075215115,1.8103130026430936]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_24","position":[0.5059550834890911,0.45961703004484633,0.71338606911949],"aabb_xy":[[0.4883222478955635,0.44199408402922336],[0.5235879190826186,0.4772399760604693]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6809854498787364,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3883.png","name":"3883"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3883.png","name":"3883"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9254.png","name":"9254"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/167.png","name":"167"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4169.png","name":"4169"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8046.png","name":"8046"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":505.24890704511586,"rotation_z_degrees":324.71779665293553,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015106763550440818,-0.018344153670062244,-0.005060310699544952]},{"name":"camera_2","offset_m":[-0.014514806269696786,-0.006213047225009186,0.019474835173968367]},{"name":"camera_3","offset_m":[0.005153623374030754,0.010308978814777398,0.016083560016647357]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001505659709641182,0.0018070863639535637,-0.00027525596110221915],"end_effector_yaw_offset_degrees":-0.448539898479815},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0019245366445755656,0.00037339014356399134,-0.0007128981687795238],"end_effector_yaw_offset_degrees":0.33406074491193194},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017798696582103368,-0.0018829036484021514,-0.0011226147351988077],"end_effector_yaw_offset_degrees":-0.047621712402158956}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00021756094725796076,-0.0005133091645925236],"position_m":[0.35431756094725797,-0.08451330916459253,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0031437352184156796,-0.0017859769078950993],"position_m":[0.27145626478158436,-0.3320859769078951,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004846523136458011,0.0028977550005811715],"position_m":[0.155853476863542,0.21709775500058118,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002842939903640306,-0.0042526572782309625],"position_m":[0.3412570600963597,0.11094734272176904,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0fdfd9575fece8c77d3a6f2e988222eadb03f5046071d104bc232f13107221f5","episode_index":80,"episode_name":"episode_0080"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0080.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_3883/tex_ceiling_textures_8046/tex_floor_textures_4169/tex_table_textures_9254/tex_wall_textures_167","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":5549683319856773812,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":5549683319856773812,"visual_seed":5549683319856773812,"scene_id":"lab_003","finished_at":"2026-09-04T03:39:03"} +{"episode_id":"ep_000081","started_at":"2026-09-04T03:39:06","dimensions":{"distractor":{"count":27,"items":[{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_0","position":[0.03972533284384616,-1.9246023955557976,0.71338606911949],"aabb_xy":[[0.007263631961918703,-1.9547352276706997],[0.0721870337257736,-1.8944695634408946]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_1","position":[0.11291078142027844,1.6841501400433372,0.71338606911949],"aabb_xy":[[0.04891077974228107,1.6356327485640227],[0.1769107830982758,1.7326675315226512]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_2","position":[-0.4713759491439238,-1.6991329514002258,0.71338606911949],"aabb_xy":[[-0.484606894678605,-1.712360370422225],[-0.45814500360924243,-1.6859055323782262]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_3","position":[-0.4688480254150921,-1.204972086056112,0.71338606911949],"aabb_xy":[[-0.5188322611232693,-1.2549720848696075],[-0.41886378970691485,-1.1549720872426164]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_4","position":[0.32737582846876023,1.4820676548351819,0.71338606911949],"aabb_xy":[[0.30446011558371033,1.4591633576987584],[0.35029154135381013,1.5049719519716056]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_5","position":[0.6274023726708997,-1.3109105988709928,0.71338606911949],"aabb_xy":[[0.5574023700343133,-1.3310154638668583],[0.6974023753074859,-1.2908057338751273]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_6","position":[0.2373931432101899,-0.6263301138076536,0.71338606911949],"aabb_xy":[[0.2121723063503502,-0.6515538646605401],[0.2626139800700295,-0.6011063629547666]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_7","position":[0.2787750543150658,-1.1966205533901464,0.71338606911949],"aabb_xy":[[0.2562613624916086,-1.266620553991154],[0.30128874613852297,-1.1266205527891389]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_8","position":[-0.2534678609404641,-1.2127338647787973,0.71338606911949],"aabb_xy":[[-0.268111266494497,-1.2273925844355815],[-0.23882445538643104,-1.198075145122013]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_9","position":[-0.3009613204125485,-2.398012696521085,0.71338606911949],"aabb_xy":[[-0.3649613218205392,-2.449801648045009],[-0.23696131900455789,-2.3462237449971597]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_10","position":[-0.4724109153651941,1.0737553561573785,0.71338606911949],"aabb_xy":[[-0.5074109136758895,1.0660403412338328],[-0.43741091705449864,1.0814703710809241]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_11","position":[0.6826105776438316,1.7284659272142542,0.71338606911949],"aabb_xy":[[0.6699837903566352,1.7189198535126813],[0.695237364931028,1.738012000915827]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_12","position":[-0.051401653420019455,0.2904873124951366,0.71338606911949],"aabb_xy":[[-0.0848808206810604,0.25700819912402967],[-0.017922486158978526,0.32396642586624363]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_13","position":[-0.5132011541481944,-2.194600286144784,0.71338606911949],"aabb_xy":[[-0.5507011544403693,-2.198641761545388],[-0.47570115385601963,-2.1905588107441805]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_14","position":[-0.13791871924670884,0.13212147265170593,0.71338606911949],"aabb_xy":[[-0.14875919747322375,0.11493519136105709],[-0.12707824102019394,0.1493077539423547]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_15","position":[0.6883929764784853,-2.321201170494777,0.71338606911949],"aabb_xy":[[0.6658929759664446,-2.3436930288601747],[0.7108929769905258,-2.298709312129378]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_16","position":[-0.5852523781470718,-0.3671662140233307,0.71338606911949],"aabb_xy":[[-0.6652523768039578,-0.3816710729475935],[-0.5052523794901858,-0.35266135509906793]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_17","position":[-0.41736700042179,-1.4596663233637464,0.71338606911949],"aabb_xy":[[-0.4673670020832847,-1.5096647656194488],[-0.36736699876029516,-1.4096678811080434]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_18","position":[0.5883503218859996,0.34986928541291107,0.71338606911949],"aabb_xy":[[0.5658503220720971,0.3453946690424304],[0.6108503216999018,0.35434390178339176]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_19","position":[0.5431828919867849,-0.9956145706588042,0.71338606911949],"aabb_xy":[[0.5351465572855,-1.003652689963221],[0.5512192266880697,-0.9875764513543874]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_20","position":[-0.35495963573129247,0.7988098600556452,0.71338606911949],"aabb_xy":[[-0.3662046913019103,0.7875680623315501],[-0.34371458016067463,0.8100516577797406]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_21","position":[0.0747266805233806,-0.948218853958152,0.71338606911949],"aabb_xy":[[0.014726680271979417,-1.0025001789946166],[0.13472668077478178,-0.8939375289216873]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_22","position":[0.4066367454352009,-1.653182991003512,0.71338606911949],"aabb_xy":[[0.31663674869959063,-1.7063664543208064],[0.49663674217081105,-1.5999995276862173]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_23","position":[0.5371146940074885,-0.11077828788824462,0.71338606911949],"aabb_xy":[[0.49978341748224586,-0.14543134268309693],[0.574445970532731,-0.0761252330933923]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_24","position":[-0.015346627697791826,-2.4052094020809633,0.71338606911949],"aabb_xy":[[-0.10534663003181088,-2.4826917566660756],[0.07465337463622723,-2.3277270474958502]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_25","position":[0.4977185470244445,-0.6375771074432128,0.71338606911949],"aabb_xy":[[0.4727185470919267,-0.6444597756641363],[0.5227185469569624,-0.6306944392222896]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_26","position":[0.47173758622277573,1.2133608815109067,0.71338606911949],"aabb_xy":[[0.39174376264421756,1.1333608789180651],[0.551731409801334,1.2933608841037483]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6784641364017637,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5786.png","name":"5786"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5786.png","name":"5786"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/334.png","name":"334"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9516.png","name":"9516"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5840.png","name":"5840"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2174.png","name":"2174"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":619.9467861948413,"rotation_z_degrees":283.2306061958846,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006364784141805493,0.012440068521207392,0.006782010348746058]},{"name":"camera_2","offset_m":[-0.0012164869571840188,-0.015990420101345063,0.009144604527169718]},{"name":"camera_3","offset_m":[0.013685189139184605,-0.01783959796699678,-0.009813923404940486]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011139563184326198,-0.001952272532867179,0.0018552414050329513],"end_effector_yaw_offset_degrees":0.1783556692690489},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001249178697729398,-0.0009640777174356435,0.001174697999372751],"end_effector_yaw_offset_degrees":-0.2662170775815449},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[7.028521598844394e-05,-0.00021597396431155048,-0.0013065264264371986],"end_effector_yaw_offset_degrees":0.7181976298513169}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0007766829522294939,0.004029056673107126],"position_m":[0.35332331704777054,-0.07997094332689288,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0040157284711767076,0.0018344312815929261],"position_m":[0.2705842715288233,-0.32846556871840704,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003991172497519973,0.0038010687195435414],"position_m":[0.15670882750248002,0.21800106871954356,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0008110376698238168,-0.004412185418615844],"position_m":[0.34491103766982384,0.11078781458138415,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a569b9014b6d1642fdd20fba5fb57c2e00c3dc9c7490f293beec966e461d8824","episode_index":81,"episode_name":"episode_0081"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0081.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_5786/tex_ceiling_textures_2174/tex_floor_textures_5840/tex_table_textures_334/tex_wall_textures_9516","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":1609963837237229721,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":1609963837237229721,"visual_seed":1609963837237229721,"scene_id":"lab_003","finished_at":"2026-09-04T03:41:58"} +{"episode_id":"ep_000082","started_at":"2026-09-04T03:42:01","dimensions":{"distractor":{"count":28,"items":[{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_0","position":[-0.3427186385611748,1.7247276601141155,0.71338606911949],"aabb_xy":[[-0.3651834085325799,1.702227659235255],[-0.3202538685897697,1.747227660992976]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_1","position":[-0.26259759368681346,1.047029076946925,0.71338606911949],"aabb_xy":[[-0.2814819774553237,1.0281431521665723],[-0.2437132099183033,1.0659150017272778]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_2","position":[-0.49942015270951795,0.2401226009542241,0.71338606911949],"aabb_xy":[[-0.5594201529609191,0.1858412759177594],[-0.4394201524581167,0.2944039259906887]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_3","position":[-0.0029794793176320944,-1.1851256740013394,0.71338606911949],"aabb_xy":[[-0.012326486899927325,-1.1994292962189834],[0.006367528264663136,-1.1708220517836954]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_4","position":[0.4567936060766844,-1.0978865127221469,0.71338606911949],"aabb_xy":[[0.44703761656751045,-1.1076490467813813],[0.46654959558585823,-1.0881239786629124]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_5","position":[0.14479826024723463,1.4499118645941196,0.71338606911949],"aabb_xy":[[0.14036763089239448,1.4444634928594373],[0.14922888960207484,1.4553602363288023]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_6","position":[0.4337040093650264,-1.3874968517508086,0.71338606911949],"aabb_xy":[[0.41620401023065917,-1.3973764787883962],[0.4512040084993935,-1.3776172247132206]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_7","position":[0.5591978380238776,0.6118077377526894,0.71338606911949],"aabb_xy":[[0.5353616203832726,0.521807736944203],[0.5830340556644827,0.701807738561176]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_8","position":[-0.23808874300173882,-1.7584652742492868,0.71338606911949],"aabb_xy":[[-0.30808873941170056,-1.778903209900968],[-0.16808874659177703,-1.7380273385976046]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_9","position":[-0.6015571625762691,-2.382251717225791,0.71338606911949],"aabb_xy":[[-0.6068947382422736,-2.407251718154931],[-0.5962195869102644,-2.3572517162966515]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_10","position":[-0.4255847663027494,1.7530525298339916,0.71338606911949],"aabb_xy":[[-0.4422619022958449,1.7363526058600613],[-0.4089076303096539,1.769752453807922]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_11","position":[-0.23742458342312917,-1.1935407800151694,0.71338606911949],"aabb_xy":[[-0.27492458184652946,-1.206704993983],[-0.1999245849997288,-1.1803765660473384]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_12","position":[-0.44049448688263576,-0.6201996639688299,0.71338606911949],"aabb_xy":[[-0.5044944832782088,-0.6841629523875633],[-0.3764944904870627,-0.5562363755500962]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_13","position":[0.5643922204646732,-2.0306641238778544,0.71338606911949],"aabb_xy":[[0.5530304858113869,-2.0420325902841423],[0.5757539551179592,-2.0192956574715666]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_14","position":[0.016955639383061993,-2.204121692727372,0.71338606911949],"aabb_xy":[[-0.033044361977825225,-2.2540995973027877],[0.0669556407439492,-2.1541437881519565]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_15","position":[-0.024927275467892862,1.374896441702179,0.71338606911949],"aabb_xy":[[-0.058702834658585834,1.360857946489014],[0.008848283722800113,1.3889349369153439]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_16","position":[-0.3944074164600532,-2.0916473007642584,0.71338606911949],"aabb_xy":[[-0.4303209208850428,-2.1275608089810136],[-0.3584939120350634,-2.055733792547504]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_17","position":[0.3653980240371033,-1.6895369041028292,0.71338606911949],"aabb_xy":[[0.35943148509636746,-1.6954980487621927],[0.37136456297783904,-1.6835757594434648]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_18","position":[-0.20785866787608143,-2.1990526982771494,0.71338606911949],"aabb_xy":[[-0.22073057137702154,-2.279052698690985],[-0.19498676437514126,-2.119052697863313]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_19","position":[-0.18720177572881014,-0.9267758837434266,0.71338606911949],"aabb_xy":[[-0.22470177622616838,-0.930744567291545],[-0.1497017752314519,-0.9228072001953082]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_20","position":[0.4839325997419355,-1.2202084837993765,0.71338606911949],"aabb_xy":[[0.47789558674127075,-1.2262351848683248],[0.4899696127426002,-1.2141817827304286]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_21","position":[0.021417223124733376,0.8173130162919504,0.71338606911949],"aabb_xy":[[0.01491558661672876,0.8075451942656409],[0.027918859632737995,0.8270808383182604]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_22","position":[0.01802277933724994,-0.779082287996667,0.71338606911949],"aabb_xy":[[-0.023281763726486052,-0.843082287564784],[0.05932732240098593,-0.7150822884285498]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_23","position":[0.26267757418847637,-1.5799621660168308,0.71338606911949],"aabb_xy":[[0.19267757155188997,-1.600067031012696],[0.33267757682506266,-1.559857301020965]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_24","position":[-0.09623698821517612,-1.0526452504165957,0.71338606911949],"aabb_xy":[[-0.13273280884245486,-1.0891291928433533],[-0.05974116758789737,-1.0161613079898382]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_25","position":[0.5778025395363586,0.8044892979883569,0.71338606911949],"aabb_xy":[[0.5128025384304155,0.7795239249202286],[0.642802540642302,0.8294546710564852]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_26","position":[0.633596643559887,1.2627643202807244,0.71338606911949],"aabb_xy":[[0.5535966402958739,1.249204287971811],[0.7135966468239001,1.2763243525896377]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_27","position":[-0.12012435310750591,-1.6033956549404698,0.71338606911949],"aabb_xy":[[-0.18412435240167413,-1.667381795309324],[-0.05612435381333768,-1.5394095145716156]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6826447316024236,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9420.png","name":"9420"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9420.png","name":"9420"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7906.png","name":"7906"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/999.png","name":"999"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3977.png","name":"3977"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9995.png","name":"9995"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":648.9712480066252,"rotation_z_degrees":281.59378311411587,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013850779663383623,0.004808760684647587,0.00799322262036277]},{"name":"camera_2","offset_m":[0.01774786128940072,-0.01937759731610781,0.006095780642148562]},{"name":"camera_3","offset_m":[-0.011333309508474798,0.011485497953980042,0.012277904884177692]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014007637276854373,0.001026651540687885,0.0005730862929725026],"end_effector_yaw_offset_degrees":0.5386359684764022},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001708031950197641,0.00011343326845697325,-4.561934441212317e-05],"end_effector_yaw_offset_degrees":-0.3824357277851336},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0012268671647028126,-0.0015124704494312274,0.00028507312832941247],"end_effector_yaw_offset_degrees":0.4892191320357224}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001731974485514585,-0.0015024919758653598],"position_m":[0.3558319744855146,-0.08550249197586536,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006279050501512432,-0.0006773470379605106],"position_m":[0.27397209494984875,-0.3309773470379605,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0013219117863505583,-0.0035894979001125657],"position_m":[0.15937808821364946,0.21061050209988744,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0030889273461442374,7.947164795872683e-05],"position_m":[0.34718892734614426,0.11527947164795872,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ed3df9930a77a9a39be438c21b85c3c9a94e381211aa843387c89f791ef47d20","episode_index":82,"episode_name":"episode_0082"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0082.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_9420/tex_ceiling_textures_9995/tex_floor_textures_3977/tex_table_textures_7906/tex_wall_textures_999","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":4953717318970148161,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":4953717318970148161,"visual_seed":4953717318970148161,"scene_id":"lab_003","finished_at":"2026-09-04T03:44:38"} +{"episode_id":"ep_000083","started_at":"2026-09-04T03:44:41","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_0","position":[0.5074803483758483,-1.9735448168741088,0.71338606911949],"aabb_xy":[[0.4977243588666743,-1.9833073509333432],[0.5172363378850221,-1.9637822828148743]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_1","position":[-0.06012108674356209,-0.02861348041988121,0.71338606911949],"aabb_xy":[[-0.07791459367847853,-0.04641322601567888],[-0.042327579808645655,-0.010813734824083543]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_2","position":[-0.4270179577660466,0.8567003803297406,0.71338606911949],"aabb_xy":[[-0.46131486878378725,0.8224034941197992],[-0.392721046748306,0.8909972665396818]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_3","position":[0.10459336112779516,-2.29263367528874,0.71338606911949],"aabb_xy":[[0.05511293991383637,-2.3566336732015922],[0.15407378234175395,-2.2286336773758886]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_4","position":[-0.07086144504894432,-1.971746389843482,0.71338606911949],"aabb_xy":[[-0.16086144738296337,-2.0492287444285946],[0.019138557285074742,-1.8942640352583695]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_5","position":[-0.3631938450666347,-0.5942835359395668,0.71338606911949],"aabb_xy":[[-0.3680931373731981,-0.6219604552421355],[-0.3582945527600711,-0.566606616636998]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_6","position":[0.3466035844587121,-2.3054924281863123,0.71338606911949],"aabb_xy":[[0.2966043092902759,-2.3554924294622595],[0.39660285962714825,-2.255492426910365]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_7","position":[0.146808098932532,0.8454182345697046,0.71338606911949],"aabb_xy":[[0.13809412988259748,0.8229182339105161],[0.15552206798246646,0.8679182352288926]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_8","position":[-0.0137152840446364,0.8056030267133498,0.71338606911949],"aabb_xy":[[-0.06369270090988997,0.7556030252241012],[0.03626213282061718,0.8556030282025983]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_9","position":[-0.5284188725984784,-1.481026324215838,0.71338606911949],"aabb_xy":[[-0.5364128611761817,-1.489026404310928],[-0.5204248840207749,-1.4730262441207473]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_10","position":[-0.0938699704174113,-0.36654096677812387,0.71338606911949],"aabb_xy":[[-0.12764552960810427,-0.38057946199128884],[-0.06009441122671831,-0.3525024715649588]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_11","position":[0.7004630286068056,1.1742957979038584,0.71338606911949],"aabb_xy":[[0.6845785353414805,1.1599428576050343],[0.7163475218721308,1.1886487382026825]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_12","position":[-0.025593850077480385,1.0864704790029664,0.71338606911949],"aabb_xy":[[-0.05907301733852132,1.0529913656318595],[0.007885317183560552,1.1199495923740734]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_13","position":[0.5073971383706324,-0.6735489106027022,0.71338606911949],"aabb_xy":[[0.4574023054426908,-0.7235489094979458],[0.557391971298574,-0.6235489117074587]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_14","position":[-0.30796688227219177,1.10883841405375,0.71338606911949],"aabb_xy":[[-0.3205936695593881,1.099292340352177],[-0.2953400949849954,1.1183844877553228]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_15","position":[-0.31524610715261187,0.43801481399754394,0.71338606911949],"aabb_xy":[[-0.3217477436606165,0.4282469919712343],[-0.30874447064460725,0.4477826360238538]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_16","position":[-0.06186066729793671,-1.8195749408533612,0.71338606911949],"aabb_xy":[[-0.08814949161837736,-1.8458463745080123],[-0.03557184297749604,-1.7933035071987098]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_17","position":[0.6324308195281856,-0.8519631143753519,0.71338606911949],"aabb_xy":[[0.5784152232462854,-0.9159631172676089],[0.6864464158100854,-0.7879631114830946]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_18","position":[0.3155955401757,1.6795005254594195,0.71338606911949],"aabb_xy":[[0.23559553970548414,1.6711898178450715],[0.39559554064591607,1.687811233073768]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_19","position":[-0.4166008852996052,0.013051872455452695,0.71338606911949],"aabb_xy":[[-0.4252988475903206,0.000926898147977971],[-0.40790292300889003,0.025176846762927425]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_20","position":[-0.5787262344036795,0.576205166725213,0.71338606911949],"aabb_xy":[[-0.6387262349996956,0.5213926941799896],[-0.5187262338076633,0.6310176392704365]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_21","position":[0.3435644752427238,-1.8618652007573568,0.71338606911949],"aabb_xy":[[0.33476241993375105,-1.869676526912286],[0.3523665305516965,-1.8540538746024278]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_22","position":[-0.4161653334276413,-0.13503243717464297,0.71338606911949],"aabb_xy":[[-0.4961653366854842,-0.21502894496662694],[-0.33616533016979827,-0.055035929382659]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_23","position":[-0.5731611572736686,1.1691319158558282,0.71338606911949],"aabb_xy":[[-0.6081611564036242,1.163386694780164],[-0.5381611581437129,1.1748771369314923]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_24","position":[-0.62125086997098,-2.4846958830412027,0.71338606911949],"aabb_xy":[[-0.629244359766262,-2.4926940149816783],[-0.613257380175698,-2.476697751100727]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_25","position":[-0.04876306211942438,1.312304419948449,0.71338606911949],"aabb_xy":[[-0.053398177271657764,1.3084370848713003],[-0.04412794696719099,1.3161717550255978]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_26","position":[-0.439890207732901,0.18617634178477482,0.71338606911949],"aabb_xy":[[-0.4531211532675823,0.17294892276277538],[-0.4266592621982197,0.19940376080677422]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6768280572751117,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1360.png","name":"1360"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1360.png","name":"1360"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8180.png","name":"8180"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4315.png","name":"4315"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8591.png","name":"8591"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/205.png","name":"205"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":703.8614646062501,"rotation_z_degrees":240.94368064613815,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010861845589867452,-0.00825132358633208,-0.011815239069919837]},{"name":"camera_2","offset_m":[0.0004592336733812291,-0.0017064434156905985,-0.015167057860333366]},{"name":"camera_3","offset_m":[0.007931714307436145,-0.003691814348099679,-0.00731968612726769]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006937548201401973,0.0010902383327962466,-0.00024381704424955553],"end_effector_yaw_offset_degrees":0.323953770024042},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006378243682109469,0.000557925541897061,0.0006421196127604284],"end_effector_yaw_offset_degrees":0.6594499176412003},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00014155215618589481,0.00031136419324125086,-0.0009346800673760804],"end_effector_yaw_offset_degrees":0.7827142969522765}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0024497086160982498,0.001320460441521512],"position_m":[0.35654970861609825,-0.0826795395584785,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004902859391166052,0.003612391345687042],"position_m":[0.269697140608834,-0.32668760865431296,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0016792490449928509,-0.0004135033718464841],"position_m":[0.15902075095500715,0.21378649662815352,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004415538803429872,-0.0034249914317781493],"position_m":[0.3485155388034299,0.11177500856822185,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0ad5d85265d8c5e8e2b12017247e496b1d49214b3cfb3882c1e854af3360c51c","episode_index":83,"episode_name":"episode_0083"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0083.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_1360/tex_ceiling_textures_205/tex_floor_textures_8591/tex_table_textures_8180/tex_wall_textures_4315","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":5088710682177271749,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":5088710682177271749,"visual_seed":5088710682177271749,"scene_id":"lab_003","finished_at":"2026-09-04T03:47:19"} +{"episode_id":"ep_000084","started_at":"2026-09-04T03:47:22","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_0","position":[-0.5617265514891542,-2.37607504716956,0.71338606911949],"aabb_xy":[[-0.6117265531506488,-2.4260734894252622],[-0.5117265498276593,-2.326076604913857]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_1","position":[0.40232740386711874,1.154189755876954,0.71338606911949],"aabb_xy":[[0.3876839983130857,1.1395310362201698],[0.41697080942115167,1.1688484755337383]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_2","position":[-0.5396262300516228,0.22780315324888845,0.71338606911949],"aabb_xy":[[-0.5771262307162014,0.2121160952486662],[-0.502126229387044,0.24349021124911058]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_3","position":[0.673236737459544,-2.3293178240552943,0.71338606911949],"aabb_xy":[[0.6357367359439123,-2.3405445970714394],[0.7107367389751758,-2.3180910510391493]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_4","position":[0.1802601161997739,1.484473291595655,0.71338606911949],"aabb_xy":[[0.12526690486263714,1.4294732912568615],[0.23525332753691067,1.539473291934449]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_5","position":[-0.3945080466942649,-1.3017766030781877,0.71338606911949],"aabb_xy":[[-0.4279482218902844,-1.3352202289091175],[-0.3610678714982452,-1.2683329772472574]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_6","position":[-0.31484085056074707,1.6219375014704416,0.71338606911949],"aabb_xy":[[-0.3367495327000981,1.6000368346503508],[-0.292932168421396,1.6438381682905323]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_7","position":[-0.24722278812757098,-1.6979496417615838,0.71338606911949],"aabb_xy":[[-0.31122278838804174,-1.7429584411145118],[-0.18322278786710017,-1.6529408424086558]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_8","position":[0.685435054723964,1.3481842913083182,0.71338606911949],"aabb_xy":[[0.6625193418389143,1.325279994171895],[0.708350767609014,1.371088588444742]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_9","position":[0.546092172208893,-1.1182306526825412,0.71338606911949],"aabb_xy":[[0.5332202687079527,-1.198230653096377],[0.558964075709833,-1.0382306522687048]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_10","position":[-0.3863798273940773,0.9118929394902549,0.71338606911949],"aabb_xy":[[-0.3908104567489175,0.9064445677555725],[-0.38194919803923716,0.9173413112249377]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_11","position":[0.47918256722419184,1.26922651512831,0.71338606911949],"aabb_xy":[[0.47113920729823666,1.1842265140329435],[0.487225927150147,1.3542265162236764]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_12","position":[0.48565015713660054,-1.5909294785497021,0.71338606911949],"aabb_xy":[[0.43565704502740876,-1.6409294792238982],[0.5356432692457925,-1.540929477875507]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_13","position":[0.0955126067484161,1.734558051874585,0.71338606911949],"aabb_xy":[[0.07783697615981776,1.716877835595182],[0.11318823733701443,1.7522382681539874]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_14","position":[-0.23583657905474154,-0.68698066152701,0.71338606911949],"aabb_xy":[[-0.3158365770355266,-0.6945822024888619],[-0.15583658107395648,-0.679379120565158]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_15","position":[0.6282179063653259,1.7631154099780972,0.71338606911949],"aabb_xy":[[0.5832179048990972,1.7181155531166168],[0.6732179078315549,1.8081152668395781]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_16","position":[-0.5044957969173403,-1.7896040401462638,0.71338606911949],"aabb_xy":[[-0.5227016205785878,-1.8006294407282557],[-0.48628997325609247,-1.7785786395642724]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_17","position":[0.7119366027867486,-1.999475698892061,0.71338606911949],"aabb_xy":[[0.7015250441062648,-2.004821432227959],[0.7223481614672322,-1.9941299655561624]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_18","position":[-0.262950341810101,-0.6119244156491324,0.71338606911949],"aabb_xy":[[-0.33295034361884646,-0.6332781844133197],[-0.19295034000135558,-0.590570646884945]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_19","position":[-0.3264087141842928,-1.4736358810195354,0.71338606911949],"aabb_xy":[[-0.37640871362448836,-1.5236038055038517],[-0.2764087147440971,-1.423667956535219]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_20","position":[0.48647572529316196,-0.013556600348473946,0.71338606911949],"aabb_xy":[[0.4499799046658831,-0.05004054277523151],[0.5229715459204406,0.02292734207828362]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_21","position":[0.05312080111330286,1.1644319873677715,0.71338606911949],"aabb_xy":[[-0.030601424386779603,1.0744319838330756],[0.13684302661338532,1.2544319909024675]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_22","position":[0.441601825026227,-0.4176967274511858,0.71338606911949],"aabb_xy":[[0.4227174412577168,-0.4365826522315386],[0.46048620879473723,-0.398810802670833]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_23","position":[0.6485132639401203,1.4421307508305614,0.71338606911949],"aabb_xy":[[0.6135132656294248,1.4344157359070158],[0.6835132622508157,1.449845765754107]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_24","position":[0.009619425387680902,-0.8455531015725495,0.71338606911949],"aabb_xy":[[-0.05438057629031645,-0.8940704930518636],[0.07361942706567826,-0.7970357100932352]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.680721750288239,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8972.png","name":"8972"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8972.png","name":"8972"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5352.png","name":"5352"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/831.png","name":"831"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7869.png","name":"7869"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/148.png","name":"148"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":633.9135385707854,"rotation_z_degrees":342.27967711989123,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012811525915117045,-0.00023437818834952384,-0.01424607749078016]},{"name":"camera_2","offset_m":[0.00464609814582382,-0.0021994930892082695,-0.010088943745403159]},{"name":"camera_3","offset_m":[-0.011301146261808821,-0.009035235500620105,0.014471854656267904]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[8.188227643663067e-05,0.0004475300388088791,-0.0005406365218534694],"end_effector_yaw_offset_degrees":-0.06514114744813426},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016773421423566318,0.0014163133216252397,0.0005370583278814975],"end_effector_yaw_offset_degrees":0.09394962833399645},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009361522980051308,0.0006559821559793586,0.001091599517056781],"end_effector_yaw_offset_degrees":0.1787252838063904}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003980851632097613,-0.00016255041689881584],"position_m":[0.3501191483679024,-0.08416255041689882,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004992542581794905,-0.004538560983620829],"position_m":[0.26960745741820513,-0.3348385609836208,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0029407501726896336,0.004506969177202144],"position_m":[0.15775924982731038,0.21870696917720214,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004214573621731541,0.0007350608618580225],"position_m":[0.34831457362173157,0.11593506086185802,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b4565847996901f8e4360436b7fea00365d54a1fe95e45f9dbc79a421d60d94a","episode_index":84,"episode_name":"episode_0084"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0084.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_8972/tex_ceiling_textures_148/tex_floor_textures_7869/tex_table_textures_5352/tex_wall_textures_831","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":3854219033046867683,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":3854219033046867683,"visual_seed":3854219033046867683,"scene_id":"lab_003","finished_at":"2026-09-04T03:50:11"} +{"episode_id":"ep_000085","started_at":"2026-09-04T03:50:15","dimensions":{"distractor":{"count":31,"items":[{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_0","position":[0.24709718808588066,-1.1958576822687113,0.71338606911949],"aabb_xy":[[0.15741011177776518,-1.2858576825231616],[0.3367842643939961,-1.1058576820142605]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_1","position":[0.5953451276105559,1.2212355969920585,0.71338606911949],"aabb_xy":[[0.5717600041466612,1.1562355947466267],[0.6189302510744509,1.2862355992374903]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_2","position":[-0.25306322882004845,-1.6995696659332777,0.71338606911949],"aabb_xy":[[-0.287360139837789,-1.7338665521432186],[-0.21876631780230776,-1.665272779723336]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_3","position":[0.05352965116650832,-1.416309511925105,0.71338606911949],"aabb_xy":[[-0.010470347420064141,-1.4633164753246137],[0.11752964975308078,-1.3693025485255963]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_4","position":[-0.31756159505448883,1.1269851335369805,0.71338606911949],"aabb_xy":[[-0.36754040356480466,1.0769851335312615],[-0.2675827865441729,1.176985133542699]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_5","position":[0.4606924996529784,-0.811746498198463,0.71338606911949],"aabb_xy":[[0.4381933639267515,-0.8342464989767259],[0.48319163537920545,-0.7892464974201999]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_6","position":[-0.6841712447558387,-1.1573404599428743,0.71338606911949],"aabb_xy":[[-0.6888063599080719,-1.1612077950200226],[-0.6795361296036052,-1.1534731248657255]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_7","position":[-0.476345531264065,-0.7623010762664015,0.71338606911949],"aabb_xy":[[-0.4939238334530118,-0.7798755658405063],[-0.4587672290751181,-0.7447265866922965]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_8","position":[-0.10353346765818028,-1.7782245172150053,0.71338606911949],"aabb_xy":[[-0.15852894547883964,-1.833224518648912],[-0.04853798983752086,-1.7232245157810981]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_9","position":[-0.3985547933534669,0.7469412928345776,0.71338606911949],"aabb_xy":[[-0.4360547934590598,0.7401191309815965],[-0.3610547932478739,0.7537634546875588]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_10","position":[0.5979610836137721,0.9504760612830152,0.71338606911949],"aabb_xy":[[0.5079610871129002,0.9045644188645569],[0.6879610801146437,0.9963877037014733]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_11","position":[0.5654990107198388,0.49493864748321936,0.71338606911949],"aabb_xy":[[0.5537308239251815,0.40993864757799786],[0.5772671975144965,0.5799386473884409]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_12","position":[-0.511969747344619,-2.2772599203629786,0.71338606911949],"aabb_xy":[[-0.5620672113256926,-2.34125992087279],[-0.46187228336354536,-2.2132599198531664]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_13","position":[0.36003698054561273,1.0876250385266366,0.71338606911949],"aabb_xy":[[0.3518224354299287,1.0789484482289948],[0.36825152566129665,1.0963016288242775]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_14","position":[-0.35395301428436166,-0.6833820365183305,0.71338606911949],"aabb_xy":[[-0.41795301071168356,-0.7305516603404271],[-0.28995301785703975,-0.6362124126962342]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_15","position":[-0.3438456975251623,1.3185597471995192,0.71338606911949],"aabb_xy":[[-0.41384569912744185,1.3051269539978618],[-0.2738456959228829,1.331992540401177]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_16","position":[-0.06490788316832208,-0.7501475022493651,0.71338606911949],"aabb_xy":[[-0.1149078826085177,-0.8001154267336814],[-0.014907883728126459,-0.7001795777650488]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_17","position":[0.36033387298036734,-1.0010649581764806,0.71338606911949],"aabb_xy":[[0.2953338703425738,-1.0525445568759275],[0.4253338756181608,-0.9495853594770336]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_18","position":[0.2502380385545605,-0.6670152272149459,0.71338606911949],"aabb_xy":[[0.23273803927647363,-0.6843533272812918],[0.2677380378326474,-0.6496771271485999]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_19","position":[-0.3552127329498443,1.7160465304031889,0.71338606911949],"aabb_xy":[[-0.3670848159613454,1.6310465307095383],[-0.3433406499383432,1.801046530096839]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_20","position":[-0.2648688497583296,-0.1407534307502254,0.71338606911949],"aabb_xy":[[-0.30611766078824426,-0.19575343026244285],[-0.22362003872841482,-0.08575343123800795]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_21","position":[-0.03117340288919168,1.3352241132339415,0.71338606911949],"aabb_xy":[[-0.0927641621131845,1.2712241151248949],[0.030417356334801138,1.3992241113429886]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_22","position":[-0.054213265150720336,1.676184653232823,0.71338606911949],"aabb_xy":[[-0.09920585186917075,1.631184653958374],[-0.009220678432269924,1.7211846525072716]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_23","position":[-0.06050054199953059,0.5409912080380868,0.71338606911949],"aabb_xy":[[-0.09550054189554945,0.5326169725261468],[-0.02550054210351171,0.5493654435500267]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_24","position":[0.3682601598435644,-0.4838947096759889,0.71338606911949],"aabb_xy":[[0.3612198499100274,-0.5638947090756603],[0.37530046977710146,-0.4038947102763175]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_25","position":[0.49661333905640515,0.7428502474407312,0.71338606911949],"aabb_xy":[[0.4784075153951576,0.7318248468587397],[0.5148191627176529,0.753875648022723]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_26","position":[-0.605190196093613,-1.2351109191340952,0.71338606911949],"aabb_xy":[[-0.6116040097367977,-1.241520739381763],[-0.5987763824504279,-1.2287010988864264]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_27","position":[-0.5848427986764811,-1.027962649200225,0.71338606911949],"aabb_xy":[[-0.639842798298227,-1.082946341987698],[-0.5298427990547353,-0.9729789564127524]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_28","position":[0.20837385369369343,0.5760724630746852,0.71338606911949],"aabb_xy":[[0.1932016844120601,0.5609036061464819],[0.22354602297532677,0.5912413200028886]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_29","position":[-0.3188885481725113,0.46755406461685034,0.71338606911949],"aabb_xy":[[-0.38388854672958417,0.4378015312029677],[-0.2538885496154385,0.49730659803073296]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_30","position":[0.5664838972957222,-0.2555723753370631,0.71338606911949],"aabb_xy":[[0.516601200418026,-0.3055723745833379],[0.6163665941734184,-0.20557237609078843]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6862529672933625,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2327.png","name":"2327"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2327.png","name":"2327"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5521.png","name":"5521"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9773.png","name":"9773"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2003.png","name":"2003"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1645.png","name":"1645"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":661.7366431930577,"rotation_z_degrees":170.19344637263868,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005449175996897277,-0.016441268060278725,-0.00783187122381591]},{"name":"camera_2","offset_m":[-0.019440914205477756,0.001250187213267237,-0.00034108574336755293]},{"name":"camera_3","offset_m":[0.008894504359438105,-0.0073278947830990974,0.016724397586082306]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017029693627653997,0.0007225698051387662,-0.0003825667689587697],"end_effector_yaw_offset_degrees":-0.45289400551282366},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-1.0731407058732576e-05,0.0018259138638514866,0.0016696180376425665],"end_effector_yaw_offset_degrees":-0.18639143278833648},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017582969341453426,0.0004932572764835231,0.0012664153026505543],"end_effector_yaw_offset_degrees":-0.33751092502149116}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0017380728709866567,0.0033444244692699904],"position_m":[0.3523619271290134,-0.08065557553073001,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0049588902385367525,0.0019966384149707342],"position_m":[0.27955889023853675,-0.32830336158502926,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00027467825532339653,-0.0024601473274693097],"position_m":[0.1604253217446766,0.2117398526725307,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002881042241276651,0.0035334223523361746],"position_m":[0.3469810422412767,0.11873342235233617,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"47b7d2e0725ded619dda5391b345f1dd3379b2bc4ba20100c7780428ec05e11f","episode_index":85,"episode_name":"episode_0085"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0085.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_2327/tex_ceiling_textures_1645/tex_floor_textures_2003/tex_table_textures_5521/tex_wall_textures_9773","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":8920274914745349200,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":8920274914745349200,"visual_seed":8920274914745349200,"scene_id":"lab_003","finished_at":"2026-09-04T03:53:09"} +{"episode_id":"ep_000086","started_at":"2026-09-04T03:53:12","dimensions":{"distractor":{"count":32,"items":[{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_0","position":[-0.08586538598316429,1.577868852491083,0.71338606911949],"aabb_xy":[[-0.09901663195445368,1.552868852734397],[-0.07271414001187494,1.60286885224777]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_1","position":[-0.3490450953573914,1.148983727487904,0.71338606911949],"aabb_xy":[[-0.4290450927609848,1.068991156289721],[-0.26904509795379794,1.2289762986860866]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_2","position":[0.08863644041077867,1.537029808343569,0.71338606911949],"aabb_xy":[[0.0186364370192167,1.501714034640138],[0.15863644380234065,1.5723455820469998]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_3","position":[0.5751821140678017,-0.4040652664129243,0.71338606911949],"aabb_xy":[[0.4951821137941947,-0.477014814238641],[0.6551821143414086,-0.33111571858720756]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_4","position":[-0.5300451474950018,-1.9466295451671538,0.71338606911949],"aabb_xy":[[-0.6100451496577642,-2.0265847287932974],[-0.45004514533223927,-1.86667436154101]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_5","position":[0.24031377277635912,-1.3830468599027557,0.71338606911949],"aabb_xy":[[0.19031377182582632,-1.4145960069062768],[0.29031377372689193,-1.351497712899234]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_6","position":[0.3094574042027163,-0.5152706526049595,0.71338606911949],"aabb_xy":[[0.28080807184229994,-0.5439162118820352],[0.3381067365631324,-0.4866250933278836]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_7","position":[0.2859547070256846,-2.169690387072294,0.71338606911949],"aabb_xy":[[0.26845470678063516,-2.1871901749118603],[0.3034547072707339,-2.1521905992327266]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_8","position":[0.29987341562937375,0.6203989301464059,0.71338606911949],"aabb_xy":[[0.264244259729414,0.5847662633895531],[0.3355025715293335,0.656031596903259]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_9","position":[-0.07867228814276261,0.510714214773599,0.71338606911949],"aabb_xy":[[-0.1436722890998898,0.4587660028398934],[-0.0136722871856354,0.5626624267073045]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_10","position":[-0.6057275179893274,0.29550848359565984,0.71338606911949],"aabb_xy":[[-0.6235210249242439,0.2777087379998622],[-0.587934011054411,0.3133082291914575]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_11","position":[-0.39107779938212406,-0.2796917721643455,0.71338606911949],"aabb_xy":[[-0.4550778014318561,-0.31978625525365345],[-0.3270777973323921,-0.23959728907503752]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_12","position":[0.596303462287002,1.0394711466620845,0.71338606911949],"aabb_xy":[[0.5875222351397659,1.0306913993735545],[0.6050846894342384,1.048250893950615]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_13","position":[0.6863286117423377,1.0633727887588966,0.71338606911949],"aabb_xy":[[0.6613286125767047,1.05642054305354],[0.711328610907971,1.0703250344642532]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_14","position":[0.2176104051269404,-1.854207237684709,0.71338606911949],"aabb_xy":[[0.1802791286016978,-1.8888602924795612],[0.254941681652183,-1.8195541828898567]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_15","position":[0.6713052514093469,1.4466953725590028,0.71338606911949],"aabb_xy":[[0.6514142115290068,1.434039561274306],[0.6911962912896873,1.4593511838436997]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_16","position":[-0.3654602600681371,1.355919914457953,0.71338606911949],"aabb_xy":[[-0.406764803131873,1.291919914889836],[-0.32415571700440104,1.41991991402607]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_17","position":[-0.29321549604832753,-0.46748921105754704,0.71338606911949],"aabb_xy":[[-0.3572154931604332,-0.5165215808519577],[-0.22921549893622184,-0.4184568412631364]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_18","position":[0.5475316995255901,0.7130089001842919,0.71338606911949],"aabb_xy":[[0.5284193921676112,0.6938741213070498],[0.566644006883569,0.7321436790615339]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_19","position":[0.6952507171515301,0.08353354532780966,0.71338606911949],"aabb_xy":[[0.6851690100729565,0.003533547435694992],[0.7053324242301034,0.1635335432199243]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_20","position":[-0.566566630669188,-0.7789004193016036,0.71338606911949],"aabb_xy":[[-0.5774071088957029,-0.7960867005922524],[-0.5557261524426731,-0.7617141380109548]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_21","position":[0.41145269900498005,1.7834968498574892,0.71338606911949],"aabb_xy":[[0.3264527003129054,1.7515109864626104],[0.4964526976970547,1.815482713252368]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_22","position":[-0.22112119940909558,0.848170482049317,0.71338606911949],"aabb_xy":[[-0.2811212002699083,0.7967440520428305],[-0.16112119854828272,0.8995969120558033]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_23","position":[-0.09057056499618332,-2.483635018152512,0.71338606911949],"aabb_xy":[[-0.13837673260995198,-2.5486350208595705],[-0.04276439738241467,-2.4186350154454526]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_24","position":[-0.444161338269896,-2.558571196795956,0.71338606911949],"aabb_xy":[[-0.44911735845477724,-2.5810711969980784],[-0.4392053180850149,-2.5360711965938347]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_25","position":[0.4959491811015646,1.641477735671907,0.71338606911949],"aabb_xy":[[0.43194918470599153,1.5775144472531735],[0.5599491774971377,1.7054410240906406]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_26","position":[-0.5214932434158024,0.24005889083815912,0.71338606911949],"aabb_xy":[[-0.533960601525538,0.22759356620483562],[-0.5090258853060667,0.2525242154714826]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_27","position":[-0.24933569960889934,-0.33149242003196333,0.71338606911949],"aabb_xy":[[-0.2668356988869862,-0.34883052009830934],[-0.2318357003308125,-0.31415431996561743]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_28","position":[0.12444644815583117,-2.2018088271413676,0.71338606911949],"aabb_xy":[[0.11429343260168177,-2.237878368714107],[0.13459946370998055,-2.1657392855686264]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_29","position":[0.34137983290642393,-2.5168447914689436,0.71338606911949],"aabb_xy":[[0.3063798337136056,-2.5278118374666056],[0.37637983209924214,-2.5058777454712806]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_30","position":[0.49742259322060534,-0.07617565875590371,0.71338606911949],"aabb_xy":[[0.44742776029266373,-0.12617565765114724],[0.5474174261485469,-0.026175659860660186]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_31","position":[-0.6070032514443902,1.5937342723174628,0.71338606911949],"aabb_xy":[[-0.661976973480723,1.5387342727532296],[-0.5520295294080573,1.648734271881696]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6838635139038484,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2460.png","name":"2460"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2460.png","name":"2460"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7681.png","name":"7681"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8219.png","name":"8219"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5171.png","name":"5171"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7123.png","name":"7123"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":817.8468512748295,"rotation_z_degrees":96.04452210142756,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018053588488336655,0.015138353574752943,-0.004029355062676335]},{"name":"camera_2","offset_m":[0.00465521483410794,0.019372424971468214,-0.007871016410381633]},{"name":"camera_3","offset_m":[0.003365618498405873,0.011533568922416363,0.014977808548272655]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00015812556016871898,0.0015135910412636508,0.001962039683274362],"end_effector_yaw_offset_degrees":0.9607112075568547},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001301758267783864,0.001191465620621088,-0.0017678703433624196],"end_effector_yaw_offset_degrees":-0.993830918581746},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017937986076394805,0.0014552378465936505,-0.00011802570806485448],"end_effector_yaw_offset_degrees":0.5925472233309579}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002522615025773163,-0.001729939584599184],"position_m":[0.35157738497422686,-0.0857299395845992,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0004228836525130694,-0.0012956090708024725],"position_m":[0.2750228836525131,-0.33159560907080243,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0033919625950292213,6.776241483580012e-05],"position_m":[0.16409196259502923,0.2142677624148358,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[7.39476868118101e-05,0.003445297359765562],"position_m":[0.3441739476868118,0.11864529735976556,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"570a3367d01479203b92f09d9e349df13daa3d5f23d7032dcb77bf6cbfe0336e","episode_index":86,"episode_name":"episode_0086"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0086.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_2460/tex_ceiling_textures_7123/tex_floor_textures_5171/tex_table_textures_7681/tex_wall_textures_8219","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":2949637901268944013,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":2949637901268944013,"visual_seed":2949637901268944013,"scene_id":"lab_003","finished_at":"2026-09-04T03:55:58"} +{"episode_id":"ep_000087","started_at":"2026-09-04T03:56:02","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_0","position":[0.5505534435398232,0.5784474639551656,0.71338606911949],"aabb_xy":[[0.48655344283635393,0.5324290814822445],[0.6145534442432926,0.6244658464280866]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_1","position":[0.35314642785982153,-1.9190089251576508,0.71338606911949],"aabb_xy":[[0.34339043835064764,-1.9287714592168852],[0.3629024173689954,-1.9092463910984163]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_2","position":[-0.13260047714965462,-1.792493611482545,0.71338606911949],"aabb_xy":[[-0.1360411533897118,-1.7963550444569099],[-0.12915980090959744,-1.788632178508181]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_3","position":[0.3368417854535053,-2.561024879301432,0.71338606911949],"aabb_xy":[[0.3018417854770094,-2.5704894953490482],[0.37184178543000107,-2.5515602632538155]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_4","position":[-0.3004722610880306,0.5245592314438157,0.71338606911949],"aabb_xy":[[-0.3106252766421799,0.4884896898710752],[-0.29031924553388117,0.5606287730165559]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_5","position":[-0.20631349988606434,-2.4206201537867136,0.71338606911949],"aabb_xy":[[-0.2563066119952563,-2.4706201544609097],[-0.1563203877768725,-2.3706201531125184]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_6","position":[-0.37381165619131634,-0.44466611275508106,0.71338606911949],"aabb_xy":[[-0.4538116594553294,-0.4582261450639944],[-0.29381165292730316,-0.4311060804461677]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_7","position":[0.23573289421077515,-1.019936863110696,0.71338606911949],"aabb_xy":[[0.22310610692357874,-1.0294829368122689],[0.24835968149797144,-1.010390789409123]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_8","position":[-0.5488673356202106,0.7828449249799241,0.71338606911949],"aabb_xy":[[-0.6038673338219553,0.7423229583534865],[-0.4938673374184657,0.8233668916063617]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_9","position":[0.48161253623713507,0.9944637817618607,0.71338606911949],"aabb_xy":[[0.4176125370673651,0.9476970946428981],[0.545612535406905,1.041230468880823]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_10","position":[-0.4214467362684012,1.2454228986568205,0.71338606911949],"aabb_xy":[[-0.455909214281489,1.2387592214738976],[-0.38698425825531346,1.252086575839743]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_11","position":[-0.1320938723643108,1.785883416158446,0.71338606911949],"aabb_xy":[[-0.14967217455325765,1.768308926584341],[-0.11451557017536396,1.803457905732551]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_12","position":[-0.6272804762098095,1.0386114002058453,0.71338606911949],"aabb_xy":[[-0.668529287239724,0.9836114006936277],[-0.5860316651798946,1.0936113997180625]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_13","position":[-0.658730581191598,0.08310588809920283,0.71338606911949],"aabb_xy":[[-0.6837305807433364,0.07296340423406812],[-0.6337305816398594,0.09324837196433756]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_14","position":[0.07497772077670628,1.323200126559526,0.71338606911949],"aabb_xy":[[-0.008744504723376179,1.23320012302483],[0.15869994627678874,1.4132001300942219]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_15","position":[0.646060273643454,-1.6110217531669573,0.71338606911949],"aabb_xy":[[0.6386478181020655,-1.6168729635885852],[0.6534727291848424,-1.6051705427453293]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_16","position":[0.6188474847254761,-1.442430259918293,0.71338606911949],"aabb_xy":[[0.5538474865695571,-1.4687265044682054],[0.6838474828813952,-1.416134015368381]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_17","position":[0.19171580706256253,-1.27030900282218,0.71338606911949],"aabb_xy":[[0.11171581009952336,-1.3473846444659532],[0.2717158040256017,-1.1932333611784063]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_18","position":[-0.5516134401624226,1.548027221849107,0.71338606911949],"aabb_xy":[[-0.5754496578030278,1.4580272210406207],[-0.5277772225218177,1.6380272226575938]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_19","position":[-0.2988990053149595,1.3824990890117004,0.71338606911949],"aabb_xy":[[-0.3061813216916231,1.292499085402191],[-0.2916166889382958,1.472499092621209]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_20","position":[-0.2802760995559847,-2.2684361090521703,0.71338606911949],"aabb_xy":[[-0.3352760987325742,-2.323425783827128],[-0.22527610037939522,-2.2134464342772127]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_21","position":[-0.061765311592909766,-2.3258187519888924,0.71338606911949],"aabb_xy":[[-0.06980164629419461,-2.3338568712933094],[-0.05372897689162492,-2.3177806326844754]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_22","position":[0.5923252027355792,-0.05866267074971221,0.71338606911949],"aabb_xy":[[0.5548252027918129,-0.06695576078454879],[0.6298252026793457,-0.05036958071487563]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6807403034749947,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8474.png","name":"8474"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8474.png","name":"8474"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6279.png","name":"6279"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4489.png","name":"4489"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3234.png","name":"3234"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7131.png","name":"7131"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":548.9243337005408,"rotation_z_degrees":47.353602809238076,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013438830475230819,-0.004221941077267609,0.005152255362320418]},{"name":"camera_2","offset_m":[0.005839827502357786,0.0052135462202326024,0.0163910271035082]},{"name":"camera_3","offset_m":[-0.008574122531068228,0.018153670897188407,0.002230565519774453]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0003663265656409008,0.0001409902160954134,0.0001406626232072993],"end_effector_yaw_offset_degrees":-0.9430267105788666},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0004176737421608457,-0.0013085447745759104,-0.00034255493720437933],"end_effector_yaw_offset_degrees":0.7787009354129792},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011249140831706356,-0.00020656040484967391,0.0009826247343890514],"end_effector_yaw_offset_degrees":-0.6077027296550166}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0025658556009812597,0.0016777680111872964],"position_m":[0.35153414439901876,-0.08232223198881271,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00253372737049551,-0.00018691675869065769],"position_m":[0.2720662726295045,-0.33048691675869063,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0001704508234256089,-0.0028595751456841722],"position_m":[0.1605295491765744,0.21134042485431584,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0015648215108859977,0.003510174855020973],"position_m":[0.342535178489114,0.11871017485502097,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"157793c11f90fa8eb16697747ddaed1d38df3f6078f275aca0771038b4126b1a","episode_index":87,"episode_name":"episode_0087"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0087.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_8474/tex_ceiling_textures_7131/tex_floor_textures_3234/tex_table_textures_6279/tex_wall_textures_4489","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":3057410600758282921,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":3057410600758282921,"visual_seed":3057410600758282921,"scene_id":"lab_003","finished_at":"2026-09-04T03:58:56"} +{"episode_id":"ep_000088","started_at":"2026-09-04T03:58:59","dimensions":{"distractor":{"count":20,"items":[{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_0","position":[0.42707797657074353,-2.0294102738159907,0.71338606911949],"aabb_xy":[[0.3720779783689987,-2.069932240442428],[0.48207797477248837,-1.988888307189553]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_1","position":[-0.03855477311185018,0.9579691567868216,0.71338606911949],"aabb_xy":[[-0.04267072322392284,0.9538536017539759],[-0.03443882299977751,0.962084711819667]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_2","position":[-0.10419543511934193,-0.8086349122814582,0.71338606911949],"aabb_xy":[[-0.13982459101930167,-0.8442675790383112],[-0.06856627921938219,-0.7730022455246053]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_3","position":[-0.3011444382131271,0.9218797029896657,0.71338606911949],"aabb_xy":[[-0.30818474814666413,0.8418797035899944],[-0.29410412827959015,1.001879702389337]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_4","position":[-0.14160318506980618,-2.0548230489642694,0.71338606911949],"aabb_xy":[[-0.22160318208405416,-2.07495760063768],[-0.0616031880555582,-2.034688497290858]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_5","position":[-0.510606251639266,-0.6531719769889246,0.71338606911949],"aabb_xy":[[-0.5186425863405507,-0.6612100962933414],[-0.502569916937981,-0.6451338576845078]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_6","position":[-0.29886471282529464,0.6551106498995081,0.71338606911949],"aabb_xy":[[-0.3488597237847467,0.6051106508639164],[-0.24886970186584267,0.7051106489350998]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_7","position":[-0.09184923969186976,-2.1568750765517244,0.71338606911949],"aabb_xy":[[-0.1094275418808166,-2.1744495661258294],[-0.0742709375029229,-2.1393005869776194]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_8","position":[0.6604933112170341,-1.4502140994670458,0.71338606911949],"aabb_xy":[[0.6054933115952884,-1.5051977922545186],[0.7154933108387801,-1.395230406679573]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_9","position":[0.4864612095543288,1.5744380954677148,0.71338606911949],"aabb_xy":[[0.48275794822518986,1.5707360771589969],[0.49016447088346765,1.5781401137764324]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_10","position":[0.5401364912942455,1.0906695473892234,0.71338606911949],"aabb_xy":[[0.5357058619394053,1.085221175654541],[0.5445671206490856,1.0961179191239059]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_11","position":[0.580150637642117,-0.31044370137190125,0.71338606911949],"aabb_xy":[[0.4904635613340017,-0.4004437016263518],[0.6698377139502326,-0.2204437011174507]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_12","position":[0.43836902058827176,-0.6000291350628555,0.71338606911949],"aabb_xy":[[0.38837590847908,-0.6500291357370511],[0.48836213269746376,-0.5500291343886599]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_13","position":[0.23867603430980122,-0.688308837683844,0.71338606911949],"aabb_xy":[[0.22100040372120283,-0.7059890539632467],[0.25635166489839945,-0.6706286214044412]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_14","position":[-0.4778016616663808,-0.5152553619360352,0.71338606911949],"aabb_xy":[[-0.490428448953577,-0.5248014356376081],[-0.4651748743791843,-0.5057092882344623]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_15","position":[-0.18773560856173022,-1.2458941237329892,0.71338606911949],"aabb_xy":[[-0.2677356055247694,-1.3229697653767627],[-0.10773561159869102,-1.1688184820892158]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_16","position":[-0.6221828257131348,-2.090956923880597,0.71338606911949],"aabb_xy":[[-0.6325943843936185,-2.0963026572164956],[-0.6117712670326511,-2.085611190544699]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_17","position":[0.3257068750558132,1.138620282810043,0.71338606911949],"aabb_xy":[[0.30279116217076335,1.1157159856736196],[0.34862258794086315,1.1615245799464666]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_18","position":[0.057120231577083125,1.3622643179513085,0.71338606911949],"aabb_xy":[[0.04555125083014656,1.3372643178343768],[0.0686892123240197,1.3872643180682402]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_19","position":[-0.3266900457592589,1.7652770029692522,0.71338606911949],"aabb_xy":[[-0.3816637677955918,1.710277003405019],[-0.27171632372292603,1.8202770025334853]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6833493779727471,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7332.png","name":"7332"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7332.png","name":"7332"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4220.png","name":"4220"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9942.png","name":"9942"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5858.png","name":"5858"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1480.png","name":"1480"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":630.9811052855466,"rotation_z_degrees":136.10031621708148,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0031892515739612923,0.006951269115936434,-0.0055652989202282874]},{"name":"camera_2","offset_m":[-0.01839561774216549,0.006784124247709116,0.007513313766225976]},{"name":"camera_3","offset_m":[0.012602821262624141,-0.017497419740937513,0.012719620401295265]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0005825615699385706,-0.0013703550436954758,0.0007998812725824177],"end_effector_yaw_offset_degrees":-0.35826196231230223},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015217867595588453,-0.000973889686727301,0.001619193413242198],"end_effector_yaw_offset_degrees":-0.30424601578091504},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013418162098456938,-0.0019189664298932324,0.00013690798909977032],"end_effector_yaw_offset_degrees":-0.8705401727837632}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-8.393955642935214e-05,-0.004692179948116618],"position_m":[0.3540160604435707,-0.08869217994811662,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0016302749490047764,-0.0039220736838701175],"position_m":[0.27296972505099526,-0.3342220736838701,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0009437728694173166,-0.0031711223245475973],"position_m":[0.15975622713058268,0.2110288776754524,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004431961509607824,0.0035509434503325525],"position_m":[0.34853196150960786,0.11875094345033255,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9db2fffbb734615abd31f68044997cccf50e83df9e6faa8d02fbfd1e4b0349c6","episode_index":88,"episode_name":"episode_0088"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0088.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_7332/tex_ceiling_textures_1480/tex_floor_textures_5858/tex_table_textures_4220/tex_wall_textures_9942","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":399829507078539824,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":399829507078539824,"visual_seed":399829507078539824,"scene_id":"lab_003","finished_at":"2026-09-04T04:01:35"} +{"episode_id":"ep_000089","started_at":"2026-09-04T04:01:39","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_0","position":[0.06811640388636586,-0.9224679519057992,0.71338606911949],"aabb_xy":[[0.004116406584019461,-0.966834378873656],[0.13211640118871226,-0.8781015249379425]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_1","position":[0.5436587299580691,-0.8721014397993705,0.71338606911949],"aabb_xy":[[0.5086587308281134,-0.8778466608750347],[0.5786587290880247,-0.8663562187237065]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_2","position":[0.4112913333800672,-2.110074802704258,0.71338606911949],"aabb_xy":[[0.4032973448023638,-2.118074882799348],[0.4192853219577706,-2.1020747226091676]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_3","position":[-0.6699328624784862,1.602374172785629,0.71338606911949],"aabb_xy":[[-0.6902171652018848,1.58209154764292],[-0.6496485597550873,1.6226567979283377]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_4","position":[-0.10171337503793909,-2.037833780374389,0.71338606911949],"aabb_xy":[[-0.13904465156318171,-2.072486835169241],[-0.06438209851269647,-2.0031807255795364]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_5","position":[0.6933564981045759,-0.7410589824029004,0.71338606911949],"aabb_xy":[[0.6878985524675557,-0.8210589857105595],[0.6988144437415958,-0.6610589790952413]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_6","position":[0.5588701276692345,1.1270702023613839,0.71338606911949],"aabb_xy":[[0.47887012440522136,1.1135101700524703],[0.6388701309332476,1.140630234670297]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_7","position":[-0.313278334975072,1.147420836774672,0.71338606911949],"aabb_xy":[[-0.37727833414484196,1.1006541496557094],[-0.2492783358053021,1.1941875238936344]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_8","position":[-0.3681795116972996,-2.0838383226708626,0.71338606911949],"aabb_xy":[[-0.43317951265442683,-2.135786534604568],[-0.3031795107401724,-2.031890110737157]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_9","position":[-0.555721484165231,-1.2589576470598933,0.71338606911949],"aabb_xy":[[-0.5756125240455713,-1.2716134583445902],[-0.5358304442848908,-1.2463018357751965]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_10","position":[0.6089117610052006,-2.2151632172506357,0.71338606911949],"aabb_xy":[[0.5714117610614342,-2.223456307285472],[0.646411760948967,-2.2068701272157987]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_11","position":[0.4021799658209919,0.9918081858478316,0.71338606911949],"aabb_xy":[[0.37717996626925343,0.9816657019826968],[0.4271799653727304,1.0019506697129663]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_12","position":[-0.21779106867585973,-2.2865632272139242,0.71338606911949],"aabb_xy":[[-0.2303937678129362,-2.29915862343879],[-0.20518836953878328,-2.273967830989059]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_13","position":[-0.31324332086213236,-0.2646448548914657,0.71338606911949],"aabb_xy":[[-0.37723901825722894,-0.32864485319217435],[-0.24924762346703577,-0.20064485659075698]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_14","position":[-0.09160224506206438,-1.8005231729132114,0.71338606911949],"aabb_xy":[[-0.10135823457123826,-1.8102857069724456],[-0.08184625555289048,-1.7907606388539767]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_15","position":[-0.46462115791158903,-0.5207868820410346,0.71338606911949],"aabb_xy":[[-0.49295086786012926,-0.5252476242347517],[-0.4362914479630488,-0.5163261398473176]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_16","position":[-0.10570374125242887,1.08404330732853,0.71338606911949],"aabb_xy":[[-0.10966422502216323,1.0763754427430094],[-0.10174325748269449,1.0917111719140506]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_17","position":[-0.32971120786552666,-2.2341811308672,0.71338606911949],"aabb_xy":[[-0.3384251769154611,-2.256681131526388],[-0.3209972388155921,-2.2116811302080115]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_18","position":[0.5442978244830019,1.4093008286006992,0.71338606911949],"aabb_xy":[[0.48666735559573093,1.3493008296739883],[0.6019282933702726,1.4693008275274095]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_19","position":[-0.36101304379857474,-2.41552273103722,0.71338606911949],"aabb_xy":[[-0.3985130423741955,-2.4282590267007773],[-0.3235130452229539,-2.4027864353736614]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_20","position":[0.3613186797482866,-2.4104182999086263,0.71338606911949],"aabb_xy":[[0.2813186810914005,-2.4249231588328897],[0.4413186784051725,-2.395913440984364]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_21","position":[0.2630653462047797,1.5150714640146163,0.71338606911949],"aabb_xy":[[0.2130703352453277,1.4650714649790246],[0.31306035716423175,1.5650714630502083]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_22","position":[0.26750992232630777,-2.1552570934351776,0.71338606911949],"aabb_xy":[[0.2175099228861121,-2.2052250179194934],[0.31750992176650333,-2.105289168950861]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_23","position":[-0.049002581832166325,-0.145117446398217,0.71338606911949],"aabb_xy":[[-0.0666354174256939,-0.16274039241383995],[-0.03136974623863875,-0.127494500382594]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_24","position":[0.46360358018999603,-0.6704454415750956,0.71338606911949],"aabb_xy":[[0.4526978041024333,-0.7504454379739247],[0.47450935627755875,-0.5904454451762664]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_25","position":[-0.1670875171351408,1.7258813791540173,0.71338606911949],"aabb_xy":[[-0.2170605826676563,1.6758813793414844],[-0.11711445160262535,1.7758813789665502]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_26","position":[0.11746103606656044,-2.2934747576089647,0.71338606911949],"aabb_xy":[[0.0324610373744858,-2.325460621003843],[0.20246103475863508,-2.2614888942140854]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_27","position":[-0.34035670778242877,-1.0478993559743601,0.71338606911949],"aabb_xy":[[-0.420350531360987,-1.1278993585672017],[-0.26036288420387055,-0.9678993533815186]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_28","position":[-0.3023919224335455,0.22906093772075709,0.71338606911949],"aabb_xy":[[-0.3823919210208649,0.1497453357825962],[-0.22239192384622605,0.308376539658918]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_29","position":[-0.48282494609784243,-0.3019499196993696,0.71338606911949],"aabb_xy":[[-0.48932658260584716,-0.31171774172567934],[-0.47632330958983793,-0.2921820976730598]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_30","position":[-0.5593102171127259,0.9591197090863632,0.71338606911949],"aabb_xy":[[-0.6243102152686448,0.932823464536451],[-0.4943102189568067,0.9854159536362754]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_31","position":[0.517337756220184,1.7351853389024714,0.71338606911949],"aabb_xy":[[0.4702083772183482,1.6711853378580694],[0.5644671352220195,1.7991853399468734]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_32","position":[-0.1721614937262005,0.9721536651727849,0.71338606911949],"aabb_xy":[[-0.23616149563854283,0.9162425159147746],[-0.10816149181385815,1.0280648144307953]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_33","position":[0.48518198029269777,0.20840180151812504,0.71338606911949],"aabb_xy":[[0.42118198170612525,0.1613948381186163],[0.5491819788792702,0.25540876491763376]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6790312721205503,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7022.png","name":"7022"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7022.png","name":"7022"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9593.png","name":"9593"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2195.png","name":"2195"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7589.png","name":"7589"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1713.png","name":"1713"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":814.7404786429249,"rotation_z_degrees":327.24863508241816,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01799609042416054,0.016174286840053145,0.015319519121665948]},{"name":"camera_2","offset_m":[0.009205190073429997,0.012861607342544237,0.013482758765303662]},{"name":"camera_3","offset_m":[0.0030951087963675544,0.009077571724321616,0.01227912976393369]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0010155571543674076,0.0014522374736759668,-0.0015512946448489116],"end_effector_yaw_offset_degrees":-0.7239605775346458},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017208576779964245,-0.0017648965133151763,3.168137556719495e-06],"end_effector_yaw_offset_degrees":0.06686921378780775},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016496749901377208,0.0018457523872722013,-0.0019462678629173702],"end_effector_yaw_offset_degrees":0.8686423910626704}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004108609959363785,0.003911821584770581],"position_m":[0.3582086099593638,-0.08008817841522943,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00278169249551073,0.002896823573782295],"position_m":[0.27181830750448926,-0.3274031764262177,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0026413901500278512,0.0016470589466862327],"position_m":[0.15805860984997216,0.21584705894668624,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004501256362926206,0.0015619918737642255],"position_m":[0.3486012563629262,0.11676199187376422,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"77a3318326491ab7e154db67930aa1cdae3bb75ebca008d66fe6b74bf6d7df1f","episode_index":89,"episode_name":"episode_0089"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0089.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7022/tex_ceiling_textures_1713/tex_floor_textures_7589/tex_table_textures_9593/tex_wall_textures_2195","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":7789199079639418054,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":7789199079639418054,"visual_seed":7789199079639418054,"scene_id":"lab_003","finished_at":"2026-09-04T04:04:13"} +{"episode_id":"ep_000090","started_at":"2026-09-04T04:04:17","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_0","position":[-0.32925966396890144,-1.1924698255307877,0.71338606911949],"aabb_xy":[[-0.37925966563039615,-1.2424682677864902],[-0.2792596623074066,-1.1424713832750848]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_1","position":[-0.4973053383986287,-1.0107949582304223,0.71338606911949],"aabb_xy":[[-0.5052993269763321,-1.0187950383255127],[-0.4893113498209252,-1.002794878135332]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_2","position":[-0.18392219561267675,-1.240986705906523,0.71338606911949],"aabb_xy":[[-0.21388975252250242,-1.2709867062044087],[-0.1539546387028511,-1.2109867056086372]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_3","position":[0.559217309759237,-0.2516750713100948,0.71338606911949],"aabb_xy":[[0.5249203987414963,-0.2859719575200361],[0.5935142207769775,-0.2173781851001534]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_4","position":[0.4817472817913122,-0.5971683272249717,0.71338606911949],"aabb_xy":[[0.4642472815319757,-0.6112598694137444],[0.49924728205064894,-0.5830767850361992]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_5","position":[-0.4839338695347837,-0.2732194727968773,0.71338606911949],"aabb_xy":[[-0.5058236171237245,-0.36321947008612643],[-0.46204412194584293,-0.1832194755076282]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_6","position":[-0.45864415091447563,-2.042358345856287,0.71338606911949],"aabb_xy":[[-0.4694846291409905,-2.0595446271469355],[-0.4478036726879607,-2.025172064565638]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_7","position":[0.2853556780326679,-0.6841546906745322,0.71338606911949],"aabb_xy":[[0.2542087591890848,-0.7541546893613392],[0.31650259687625104,-0.6141546919877249]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_8","position":[-0.4224171622392698,0.49515728234107925,0.71338606911949],"aabb_xy":[[-0.44491716176297713,0.4726613348904585],[-0.3999171627155623,0.5176532297917]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_9","position":[-0.2865922387889171,0.19429872987162256,0.71338606911949],"aabb_xy":[[-0.30570454614689596,0.1751639509943805],[-0.26747993143093823,0.21343350874886455]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_10","position":[-0.16815755129398424,-0.19976495214011258,0.71338606911949],"aabb_xy":[[-0.18130879726527363,-0.22476495189679918],[-0.1550063053226949,-0.17476495238342607]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_11","position":[0.6278121048834937,-1.6491377854497498,0.71338606911949],"aabb_xy":[[0.5378121081478834,-1.702321248767044],[0.7178121016191038,-1.595954322132455]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_12","position":[-0.49784578119690326,1.0049946062129989,0.71338606911949],"aabb_xy":[[-0.5353457810139368,1.0003563949018568],[-0.46034578137986965,1.0096328175241405]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_13","position":[0.26143109485199467,0.7793635207438663,0.71338606911949],"aabb_xy":[[0.2541698472815872,0.7665765104803568],[0.26869234242240203,0.7921505310073758]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_14","position":[-0.039688904968169236,1.3629210489738628,0.71338606911949],"aabb_xy":[[-0.05997320769156799,1.3426384238311537],[-0.01940460224477047,1.3832036741165714]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_15","position":[0.6842475473253575,-1.0287785553657396,0.71338606911949],"aabb_xy":[[0.6803336741299351,-1.0375275707722964],[0.68816142052078,-1.0200295399591828]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_16","position":[0.5774383985358575,1.4387651158205004,0.71338606911949],"aabb_xy":[[0.5595692907814019,1.4249322078432893],[0.5953075062903129,1.4525980237977114]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_17","position":[-0.6527164781389634,1.3741223132764806,0.71338606911949],"aabb_xy":[[-0.6588111060270818,1.3655529187248119],[-0.6466218502508452,1.3826917078281493]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_18","position":[0.45684939024132887,1.1363616840776252,0.71338606911949],"aabb_xy":[[0.39284939384575573,1.0723983956588916],[0.520849386636902,1.2003249724963587]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_19","position":[0.3748411984078326,0.851289867304228,0.71338606911949],"aabb_xy":[[0.3250244189429978,0.8012898688199245],[0.4246579778726673,0.9012898657885312]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_20","position":[0.014589571261961032,1.5952129253736405,0.71338606911949],"aabb_xy":[[-0.04940612613313555,1.5312129270729318],[0.07858526865705762,1.6592129236743491]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_21","position":[0.6451550237573782,-1.9154273365321732,0.71338606911949],"aabb_xy":[[0.6290930962988603,-2.000427338344765],[0.6612169512158956,-1.8304273347195814]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_22","position":[-0.06966778426103992,-0.781367701608308,0.71338606911949],"aabb_xy":[[-0.11243449114046011,-0.8453677050301105],[-0.02690107738161973,-0.7173676981865056]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_23","position":[-0.4582625898197008,0.5748015725028615,0.71338606911949],"aabb_xy":[[-0.49326258894965647,0.5690563514271972],[-0.42326259068974514,0.5805467935785255]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_24","position":[-0.010057678056040076,-1.9090715239080733,0.71338606911949],"aabb_xy":[[-0.03527851491587974,-1.9342952747609596],[0.01516315880379959,-1.8838477730551861]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_25","position":[0.7082286654535404,-1.8992388607350268,0.71338606911949],"aabb_xy":[[0.7021916524528756,-1.905265561803975],[0.7142656784542051,-1.893212159666079]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_26","position":[-0.2610712361542925,1.1330489191834903,0.71338606911949],"aabb_xy":[[-0.2785711695882758,1.1155489192632555],[-0.24357130272030908,1.1505489191037246]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_27","position":[0.5966758383965391,-2.4857470353349234,0.71338606911949],"aabb_xy":[[0.5886823486012572,-2.4937451672753994],[0.6046693281918213,-2.477748903394448]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_28","position":[-0.31402462877397164,1.4256027782115308,0.71338606911949],"aabb_xy":[[-0.3550425721603425,1.3756027775805735],[-0.27300668538760076,1.4756027788424881]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_29","position":[-0.6225030374930444,1.122986945742587,0.71338606911949],"aabb_xy":[[-0.6865030377535151,1.0779781463896587],[-0.5585030372325734,1.1679957450955147]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_30","position":[-0.19257316156434623,1.2435163939701774,0.71338606911949],"aabb_xy":[[-0.21011985648046516,1.2060163924059262],[-0.1750264666482273,1.2810163955344287]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_31","position":[0.2168201581501088,-0.9183597571632465,0.71338606911949],"aabb_xy":[[0.1918201585983703,-0.9285022410283811],[0.24182015770184725,-0.9082172732981116]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6810462404602242,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2402.png","name":"2402"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2402.png","name":"2402"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9142.png","name":"9142"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9950.png","name":"9950"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7273.png","name":"7273"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2804.png","name":"2804"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":606.0786672982886,"rotation_z_degrees":7.6739197064159725,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01700111716361252,0.004459810315626561,0.0076040059009413255]},{"name":"camera_2","offset_m":[0.01542343683084767,-0.011358239108264204,-0.005422898320679144]},{"name":"camera_3","offset_m":[-0.00356236714201294,0.00285113010333685,-0.01445565073572597]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018612325710266715,0.00020324024779507606,-0.001843722710785695],"end_effector_yaw_offset_degrees":-0.16184046871239932},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001547701508932841,0.00014626781535213547,-0.0019477503636193818],"end_effector_yaw_offset_degrees":0.7814981630992348},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014503656906138893,-0.0019154402490145564,0.0018939000024819131],"end_effector_yaw_offset_degrees":0.3113593800759422}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0013496186239062048,-0.0015430471368918274],"position_m":[0.3527503813760938,-0.08554304713689183,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006931926596346347,0.002513239904074902],"position_m":[0.2739068073403654,-0.32778676009592506,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004542589393059182,-0.00445960254919551],"position_m":[0.15615741060694083,0.2097403974508045,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004964251917690925,0.003248198507257177],"position_m":[0.3490642519176909,0.11844819850725717,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9201bed59949ab6ecbaa52c53b46d4e8c95cb8be519eb773c7598b09d59ea54e","episode_index":90,"episode_name":"episode_0090"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0090.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_2402/tex_ceiling_textures_2804/tex_floor_textures_7273/tex_table_textures_9142/tex_wall_textures_9950","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":3732998777376897547,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":3732998777376897547,"visual_seed":3732998777376897547,"scene_id":"lab_003","finished_at":"2026-09-04T04:06:59"} +{"episode_id":"ep_000091","started_at":"2026-09-04T04:07:02","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_0","position":[0.3516372579780611,0.7547023121532619,0.71338606911949],"aabb_xy":[[0.3160081020781014,0.719069645396409],[0.3872664138780209,0.790334978910115]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_1","position":[-0.4174752570714807,-1.105250184323035,0.71338606911949],"aabb_xy":[[-0.42305692870560946,-1.1177501841408102],[-0.41189358543735194,-1.0927501845052592]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_2","position":[-0.1417564054907,-2.317849624945278,0.71338606911949],"aabb_xy":[[-0.16425640501440736,-2.340345572395899],[-0.11925640596699257,-2.2953536774946572]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_3","position":[-0.404151753328966,1.2412450900974128,0.71338606911949],"aabb_xy":[[-0.42665175314286846,1.236770473726932],[-0.3816517535150637,1.2457197064678935]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_4","position":[-0.22728583371056466,-1.2102216789497924,0.71338606911949],"aabb_xy":[[-0.3172858373874828,-1.2716540855268965],[-0.13728583003364644,-1.1487892723726878]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_5","position":[-0.39483867410884005,-1.3755786326555353,0.71338606911949],"aabb_xy":[[-0.4173386741189883,-1.3896748522951385],[-0.3723386740986917,-1.361482413015932]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_6","position":[0.612198704229423,0.9550016431210651,0.71338606911949],"aabb_xy":[[0.604205214434141,0.9470035111805897],[0.620192194024705,0.9629997750615409]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_7","position":[0.3309396401062792,-1.4579366738773556,0.71338606911949],"aabb_xy":[[0.2934396398141043,-1.461978149277959],[0.36843964039845395,-1.453895198476752]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_8","position":[-0.36243556785809417,-2.3431552869330017,0.71338606911949],"aabb_xy":[[-0.4274355688585947,-2.3939416520876766],[-0.29743556685759365,-2.2923689217783267]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_9","position":[0.10682768045894087,-2.3681928455113206,0.71338606911949],"aabb_xy":[[0.026827682478155836,-2.3757943864731725],[0.18682767843972592,-2.3605913045494686]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_10","position":[-0.6729411452153475,0.4933577521542336,0.71338606911949],"aabb_xy":[[-0.6803536007567359,0.48750654173260566],[-0.665528689673959,0.49920896257586156]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_11","position":[0.5048644608455033,-1.4493633610642653,0.71338606911949],"aabb_xy":[[0.4680139129085157,-1.486863361887299],[0.5417150087824909,-1.4118633602412316]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_12","position":[-0.08245628155950213,1.7055738631558328,0.71338606911949],"aabb_xy":[[-0.09432836457100323,1.6205738634621825],[-0.070584198548001,1.7905738628494832]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_13","position":[0.2588448692981127,-1.3657978082740667,0.71338606911949],"aabb_xy":[[0.24134493586412925,-1.383297808194301],[0.276344802732096,-1.348297808353832]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_14","position":[-0.6215209075506883,-2.2258098424550012,0.71338606911949],"aabb_xy":[[-0.6715209085012211,-2.2573589894585226],[-0.5715209066001555,-2.19426069545148]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_15","position":[-0.2028117181162944,-0.16253970869582623,0.71338606911949],"aabb_xy":[[-0.28653394361637685,-0.2525397122305222],[-0.11908949261621193,-0.07253970516113029]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_16","position":[-0.5282125545622538,-1.6844199494732122,0.71338606911949],"aabb_xy":[[-0.5626750325753416,-1.6910836266561349],[-0.49375007654916603,-1.6777562722902895]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_17","position":[0.49558537642853606,-2.1074476961157513,0.71338606911949],"aabb_xy":[[0.4456065679182201,-2.15744769612147],[0.545564184938852,-2.0574476961100325]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_18","position":[0.056446154400954796,-0.9291237556471892,0.71338606911949],"aabb_xy":[[0.036387742787714505,-0.9491888425563466],[0.07650456601419509,-0.9090586687380315]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_19","position":[0.6295954134755244,-0.37027016180142347,0.71338606911949],"aabb_xy":[[0.6066797005904745,-0.393174458937847],[0.6525111263605743,-0.34736586466499997]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_20","position":[0.6681138087269398,-0.6172453037644139,0.71338606911949],"aabb_xy":[[0.6506138084676032,-0.6313368459531866],[0.6856138089862764,-0.6031537615756414]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_21","position":[-0.5212491642239446,-1.2738121882821674,0.71338606911949],"aabb_xy":[[-0.5587491654087373,-1.2782304109782276],[-0.4837491630391518,-1.2693939655861066]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_22","position":[0.2791323458789722,-1.0154306449069177,0.71338606911949],"aabb_xy":[[0.22913234451808498,-1.0654085494823333],[0.3291323472398594,-0.9654527403315022]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_23","position":[0.45423718737271246,1.0855805326993342,0.71338606911949],"aabb_xy":[[0.41832368294772276,1.0496670244825796],[0.49015069179770215,1.1214940409160887]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_24","position":[0.4040366714179513,0.2829793383084045,0.71338606911949],"aabb_xy":[[0.3858308477567036,0.2719539377264129],[0.422242495079199,0.2940047388903962]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_25","position":[0.30129507706073566,-1.6963239382997561,0.71338606911949],"aabb_xy":[[0.2935918863866586,-1.7040333089984945],[0.3089982677348127,-1.6886145676010182]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_26","position":[0.2144702919279483,-0.7288107776719128,0.71338606911949],"aabb_xy":[[0.19689198973900146,-0.7463852672460178],[0.23204859411689516,-0.711236288097808]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_27","position":[-0.5869443381762612,1.0396851723724665,0.71338606911949],"aabb_xy":[[-0.6509443374704295,0.9756990320036121],[-0.522944338882093,1.1036713127413205]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_28","position":[-0.11434416702805483,0.6238321676672318,0.71338606911949],"aabb_xy":[[-0.19934416544547806,0.538957872204947],[-0.029344168610631605,0.7087064631295169]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_29","position":[-0.2219492308544701,1.550667291937064,0.71338606911949],"aabb_xy":[[-0.2375050002647354,1.5351168586926573],[-0.20639346144420487,1.5662177251814717]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_30","position":[0.5257834280658629,-1.8449653541361242,0.71338606911949],"aabb_xy":[[0.4617834278053921,-1.889974153489052],[0.5897834283263337,-1.799956554783196]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6798685188256928,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1048.png","name":"1048"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1048.png","name":"1048"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8015.png","name":"8015"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6398.png","name":"6398"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1672.png","name":"1672"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1580.png","name":"1580"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":743.7148670436429,"rotation_z_degrees":60.80186091047459,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016534894853572638,0.004994134771650161,0.006809704649857275]},{"name":"camera_2","offset_m":[-0.005909415900750319,-0.008221289510136974,-0.0011145212677144932]},{"name":"camera_3","offset_m":[0.0011294109481262554,-0.0009485688570720144,0.019158178238386104]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001699678896566558,0.000250443755729459,-0.0014838748149542812],"end_effector_yaw_offset_degrees":0.6061416473235401},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017944021803526584,-0.0006968267074488734,0.0018927462907512762],"end_effector_yaw_offset_degrees":0.12605090440607292},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0003226791565630947,0.001759122532193179,0.0013274973282139768],"end_effector_yaw_offset_degrees":-0.17180683534030794}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.000986143420302437,2.8851926030260162e-05],"position_m":[0.35311385657969757,-0.08397114807396974,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0020792915622266385,0.0024366423036915235],"position_m":[0.2725207084377734,-0.3278633576963085,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0015748906430695852,0.0035211452971185544],"position_m":[0.1622748906430696,0.21772114529711856,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003747351987588258,0.003905384956600277],"position_m":[0.3403526480124118,0.11910538495660028,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"89e16dfed110b93dd70e5a8100c70c41f3d45dbcc4fac99f50e9adf74a979824","episode_index":91,"episode_name":"episode_0091"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0091.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_1048/tex_ceiling_textures_1580/tex_floor_textures_1672/tex_table_textures_8015/tex_wall_textures_6398","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":3914492965795361296,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":3914492965795361296,"visual_seed":3914492965795361296,"scene_id":"lab_003","finished_at":"2026-09-04T04:09:44"} +{"episode_id":"ep_000092","started_at":"2026-09-04T04:09:48","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_0","position":[0.5479930737905829,1.8044503238148777,0.71338606911949],"aabb_xy":[[0.51049307260579,1.8000321011188167],[0.5854930749753756,1.8088685465109378]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_1","position":[-0.3737883230799493,-2.2182324341985313,0.71338606911949],"aabb_xy":[[-0.38313533066224453,-2.2325360564161754],[-0.3644413154976541,-2.2039288119808873]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_2","position":[-0.5853629522422817,-0.06243275818291938,0.71338606911949],"aabb_xy":[[-0.6203629514350998,-0.073399804180582],[-0.5503629530494633,-0.051465712185256744]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_3","position":[-0.3730970967758792,1.1552003342284811,0.71338606911949],"aabb_xy":[[-0.44309709890730864,1.1324383686027852],[-0.30309709464444956,1.1779622998541766]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_4","position":[-0.12955173171317902,-0.05685697935872991,0.71338606911949],"aabb_xy":[[-0.17954674267263107,-0.10685697839432165],[-0.07955672075372701,-0.00685698032313819]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_5","position":[-0.13517135813968817,-0.6716835409608313,0.71338606911949],"aabb_xy":[[-0.14245367451635177,-0.7616835445703402],[-0.12788904176302446,-0.5816835373513222]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_6","position":[-0.11415635019329606,1.3118297054720203,0.71338606911949],"aabb_xy":[[-0.15692305707271625,1.2478297020502178],[-0.07138964331387587,1.3758297088938227]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_7","position":[-0.3893945575043758,-0.7402853647469569,0.71338606911949],"aabb_xy":[[-0.4268945559277761,-0.7534495787147875],[-0.3518945590809754,-0.7271211507791262]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_8","position":[-0.20939720007821616,-1.8266860732084083,0.71338606911949],"aabb_xy":[[-0.2733972033679242,-1.8700209922123259],[-0.14539719678850802,-1.7833511542044906]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_9","position":[0.5210833870540357,-0.7216662719107729,0.71338606911949],"aabb_xy":[[0.4835833862620402,-0.7280341128689629],[0.5585833878460311,-0.7152984309525827]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_10","position":[-0.48260063147484744,1.5234888756926517,0.71338606911949],"aabb_xy":[[-0.5061857549387423,1.45848887344722],[-0.45901550801095264,1.5884888779380835]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_11","position":[-0.08484195519109627,0.8300503576937377,0.71338606911949],"aabb_xy":[[-0.16484195735385876,0.7500951740675941],[-0.004841953028333776,0.9100055413198813]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_12","position":[-0.13728905335812414,-1.0126544132696136,0.71338606911949],"aabb_xy":[[-0.19728905386597703,-1.0695011469555349],[-0.0772890528502712,-0.9558076795836924]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_13","position":[-0.24639016282158005,-1.2215513682217314,0.71338606911949],"aabb_xy":[[-0.2638901630666294,-1.239051156061298],[-0.22889016257653066,-1.2040515803821643]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_14","position":[0.6972110454310734,0.49028370349165096,0.71338606911949],"aabb_xy":[[0.6911740324304088,0.48425700242270286],[0.7032480584317382,0.49631040456059927]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_15","position":[0.24736903075690098,0.5814603247805072,0.71338606911949],"aabb_xy":[[0.23421778478561164,0.5564603250238208],[0.26052027672819034,0.6064603245371939]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_16","position":[0.23380772220557944,0.8525818300892971,0.71338606911949],"aabb_xy":[[0.2273939085623945,0.8461720098416287],[0.24022153584876438,0.8589916503369653]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_17","position":[-0.18026372737449603,1.0472877228109678,0.71338606911949],"aabb_xy":[[-0.2602637243375352,0.9702120811671942],[-0.10026373041145686,1.124363364454741]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_18","position":[-0.025152459025405083,-1.589468363866712,0.71338606911949],"aabb_xy":[[-0.06617040241177596,-1.6394683644976695],[0.0158654843609658,-1.5394683632357549]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_19","position":[-0.0710775153920905,-2.058888790089534,0.71338606911949],"aabb_xy":[[-0.13507751773489204,-2.103829641333666],[-0.007077513049288941,-2.013947938845401]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_20","position":[-0.6295125816765167,-0.5678504122746029,0.71338606911949],"aabb_xy":[[-0.6795125811167122,-0.6178183367589191],[-0.579512582236321,-0.5178824877902864]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_21","position":[0.0492754977971942,-0.7494859542689136,0.71338606911949],"aabb_xy":[[0.016813796915266733,-0.779618786383816],[0.08173719867912163,-0.7193531221540108]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_22","position":[0.5571940152141908,-0.9934985707584099,0.71338606911949],"aabb_xy":[[0.5531158573071411,-0.9975795510066732],[0.5612721731212404,-0.9894175905101465]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_23","position":[0.0440476777148997,-1.4597175515577445,0.71338606911949],"aabb_xy":[[0.01904767778238181,-1.4666002197786678],[0.0690476776474176,-1.4528348833368212]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_24","position":[0.2812158372158877,-2.1353804658920943,0.71338606911949],"aabb_xy":[[0.2756341655817589,-2.1478804657098696],[0.2867975088500164,-2.122880466074319]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_25","position":[0.30037508042822225,1.4342172290772948,0.71338606911949],"aabb_xy":[[0.24537508125163277,1.3792275543023371],[0.35537507960481174,1.4892069038522524]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_26","position":[0.06029376519378582,-1.043891120080915,0.71338606911949],"aabb_xy":[[0.02529376606383016,-1.0496363411565792],[0.09529376432374148,-1.038145899005251]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_27","position":[-0.6018436854456242,0.3730046217697027,0.71338606911949],"aabb_xy":[[-0.6058041692153585,0.3653367571841822],[-0.5978832016758898,0.3806724863552234]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_28","position":[-0.24820825333436092,-2.0201573975262463,0.71338606911949],"aabb_xy":[[-0.25701030864333363,-2.027968723681175],[-0.2394061980253882,-2.012346071371317]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_29","position":[-0.4647270718355423,-1.0355729431865675,0.71338606911949],"aabb_xy":[[-0.511856450837378,-1.0995729442309692],[-0.41759769283370657,-0.9715729421421653]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_30","position":[0.030434572104368396,-2.5088847343377805,0.71338606911949],"aabb_xy":[[0.026298715771668205,-2.5463847337821375],[0.03457042843706859,-2.4713847348934235]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6810255706408729,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5493.png","name":"5493"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5493.png","name":"5493"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1990.png","name":"1990"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3827.png","name":"3827"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3219.png","name":"3219"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7360.png","name":"7360"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":582.9107415184875,"rotation_z_degrees":99.0749937723055,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013275447243596927,0.013398724031464682,-0.00578180176241966]},{"name":"camera_2","offset_m":[0.004608890464956442,-0.01274526010852914,-0.0009774021400381326]},{"name":"camera_3","offset_m":[-0.014818019788751387,0.0029816231559791524,0.010813870949712055]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001105507246692448,0.0005008141962282837,-0.001702104266491003],"end_effector_yaw_offset_degrees":0.9888426165462363},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008353915481422126,-0.0001828757826772148,-0.0012280912046869084],"end_effector_yaw_offset_degrees":0.47670501043116964},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016299630389944421,-0.0007584147291793011,-0.0011620752246959153],"end_effector_yaw_offset_degrees":0.6585338655147268}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0032288076679467714,-0.0026994580359895304],"position_m":[0.35087119233205327,-0.08669945803598954,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0035364328353001805,-0.0025701071880698777],"position_m":[0.2710635671646998,-0.33287010718806986,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0005157701415549609,-0.0008831998162228769],"position_m":[0.16018422985844505,0.21331680018377713,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00482602659239346,0.00020793814441452934],"position_m":[0.34892602659239347,0.11540793814441452,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"086ee9f92a95e9815ad9e8df68d8d60f3638efa4d07bf23c9902e12f85570cea","episode_index":92,"episode_name":"episode_0092"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0092.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_5493/tex_ceiling_textures_7360/tex_floor_textures_3219/tex_table_textures_1990/tex_wall_textures_3827","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":3842228806026501851,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":3842228806026501851,"visual_seed":3842228806026501851,"scene_id":"lab_003","finished_at":"2026-09-04T04:12:28"} +{"episode_id":"ep_000093","started_at":"2026-09-04T04:12:31","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_0","position":[-0.4950426544566222,-2.3652837719015185,0.71338606911949],"aabb_xy":[[-0.5428488220703909,-2.4302837746085775],[-0.44723648684285355,-2.3002837691944595]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_1","position":[-0.2663195415048969,-2.448473522476382,0.71338606911949],"aabb_xy":[[-0.3303195406746668,-2.495240209595344],[-0.20231954233512692,-2.401706835357419]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_2","position":[0.463443667617921,-1.770555197240766,0.71338606911949],"aabb_xy":[[0.403443667110068,-1.8274019309266871],[0.5234436681257738,-1.7137084635548445]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_3","position":[-0.3674356242499848,0.24965666251083451,0.71338606911949],"aabb_xy":[[-0.3851112548385831,0.23197644623143174],[-0.34975999366138644,0.2673368787902372]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_4","position":[-0.0846054741515202,-1.8977399710381486,0.71338606911949],"aabb_xy":[[-0.1396009519721796,-1.9527399724720556],[-0.029609996330860797,-1.8427399696042417]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_5","position":[-0.6367277798917399,-0.3150982035228522,0.71338606911949],"aabb_xy":[[-0.6439890274621474,-0.3278852137863617],[-0.6294665323213324,-0.30231119325934275]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_6","position":[0.5173838196197871,0.19057049874209486,0.71338606911949],"aabb_xy":[[0.5002817416614189,0.1734636932108251],[0.5344858975781552,0.20767730427336462]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_7","position":[0.5171379646337242,-0.9010577318961608,0.71338606911949],"aabb_xy":[[0.47196664678555533,-0.9650577290406993],[0.5623092824818933,-0.8370577347516225]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_8","position":[-0.36237489337746004,-1.9501375671269776,0.71338606911949],"aabb_xy":[[-0.37754706265909344,-1.9653064240551812],[-0.34720272409582675,-1.9349687101987745]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_9","position":[0.651952749517507,1.2981898148054616,0.71338606911949],"aabb_xy":[[0.6169527503875513,1.2924445937297973],[0.6869527486474626,1.3039350358811255]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_10","position":[0.44115097995088215,-2.284504477354802,0.71338606911949],"aabb_xy":[[0.3561509815334589,-2.3693787728170874],[0.5261509783683054,-2.1996301818925175]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_11","position":[-0.1382074665975671,1.251514737372557,0.71338606911949],"aabb_xy":[[-0.15641329025881479,1.2404893367905656],[-0.12000164293631943,1.262540137954549]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_12","position":[-0.5033294072298925,-1.6436585819438685,0.71338606911949],"aabb_xy":[[-0.5130853967390663,-1.653421116003103],[-0.4935734177207185,-1.633896047884634]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_13","position":[0.02962568113032038,-2.333094858330639,0.71338606911949],"aabb_xy":[[-0.03437431816384784,-2.3970809986994928],[0.0936256804244886,-2.2691087179617844]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_14","position":[0.05747362081153584,1.796790873765826,0.71338606911949],"aabb_xy":[[0.03497362099763345,1.7923162573953455],[0.07997362062543822,1.801265490136307]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_15","position":[-0.45490865022739563,-1.8080462447851033,0.71338606911949],"aabb_xy":[[-0.5199086481090434,-1.8591699084916444],[-0.3899086523457479,-1.7569225810785627]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_16","position":[-0.40999344739845717,-1.6374123450228353,0.71338606911949],"aabb_xy":[[-0.42910575475643603,-1.6565471239000775],[-0.3908811400404783,-1.6182775661455935]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_17","position":[-0.18418188105816002,-2.275135409025741,0.71338606911949],"aabb_xy":[[-0.19934475403509713,-2.29030086632086],[-0.16901900808122294,-2.2599699517306227]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_18","position":[-0.5599074259982957,-0.7588252809485652,0.71338606911949],"aabb_xy":[[-0.5679437606995804,-0.7668634002529818],[-0.5518710912970107,-0.7507871616441483]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_19","position":[-0.2538002880133672,-0.4378786321753134,0.71338606911949],"aabb_xy":[[-0.28494720685695024,-0.5078786308621206],[-0.222653369169784,-0.3678786334885062]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_20","position":[0.16433634873895353,1.3834001918253254,0.71338606911949],"aabb_xy":[[0.10033635015238107,1.3363932284258166],[0.228336347325526,1.430407155224834]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_21","position":[-0.3304962494505983,0.5757176005967137,0.71338606911949],"aabb_xy":[[-0.3805937134316719,0.5117176000869019],[-0.2803987854695247,0.6397176011065255]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_22","position":[0.09025311636489641,-0.7138343261431501,0.71338606911949],"aabb_xy":[[0.026253119969323335,-0.7777976145618837],[0.1542531127604695,-0.6498710377244166]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_23","position":[-0.004126633516547851,1.0003669987392727,0.71338606911949],"aabb_xy":[[-0.0416266343085433,0.9939991577810826],[0.033373367275447596,1.006734839697463]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_24","position":[-0.49204484684400224,1.2954815396979775,0.71338606911949],"aabb_xy":[[-0.4959587200394247,1.2867325242914207],[-0.48813097364857966,1.3042305551045343]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_25","position":[0.09230651016110758,0.8363762239069761,0.71338606911949],"aabb_xy":[[0.0748065108830207,0.8190381238406301],[0.10980650943919446,0.853714323973322]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_26","position":[0.6342500709728436,-1.6955585890823444,0.71338606911949],"aabb_xy":[[0.6278362573296585,-1.7019684093300125],[0.6406638846160284,-1.6891487688346758]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_27","position":[-0.12317435769549956,-0.08767234063704077,0.71338606911949],"aabb_xy":[[-0.15150406764403979,-0.09213308283075781],[-0.09484464774695935,-0.0832115984433237]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_28","position":[0.5995968844466806,-0.10303424940263062,0.71338606911949],"aabb_xy":[[0.5095968850283097,-0.1364097462468203],[0.6895968838650515,-0.06965875255844087]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_29","position":[-0.3503852531328667,-1.0329692202573002,0.71338606911949],"aabb_xy":[[-0.40038525415200205,-1.0694354359951281],[-0.30038525211373146,-0.9965030045194723]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_30","position":[-0.3496175760148842,1.063336960510517,0.71338606911949],"aabb_xy":[[-0.35689989239154774,0.9733369569010076],[-0.3423352596382204,1.1533369641200255]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_31","position":[0.3726932587593048,1.5426697164567744,0.71338606911949],"aabb_xy":[[0.3076932561215113,1.4911901177573275],[0.4376932613970983,1.5941493151562214]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_32","position":[0.6900562261017786,-0.31819100529894273,0.71338606911949],"aabb_xy":[[0.6721871183473233,-0.33202391327615366],[0.7079253338562342,-0.3043580973217318]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_33","position":[-0.017588814092211913,-1.457996212038555,0.71338606911949],"aabb_xy":[[-0.025512094330960248,-1.4804962122765586],[-0.009665533853463585,-1.4354962118005519]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_34","position":[-0.4990443726806225,-0.9521018510558932,0.71338606911949],"aabb_xy":[[-0.5490392056085641,-1.0021018499511367],[-0.4490495397526809,-0.9021018521606496]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6785810638711576,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5916.png","name":"5916"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5916.png","name":"5916"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7642.png","name":"7642"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8373.png","name":"8373"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6918.png","name":"6918"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3034.png","name":"3034"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":560.4018995657407,"rotation_z_degrees":280.77885839321937,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01543010203018411,-0.018466604784441995,0.002434529268881637]},{"name":"camera_2","offset_m":[0.007589380117221031,0.01214243821279697,-0.0053985519366398955]},{"name":"camera_3","offset_m":[-0.0015402981538389718,0.01111998082116436,-0.008790951140583517]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001071851630681004,-0.0012425975097477661,-0.0011064887014430435],"end_effector_yaw_offset_degrees":0.4729119723371109},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0004786463870187635,-0.0017361579746292565,0.00032459824828937403],"end_effector_yaw_offset_degrees":-0.7007113578194495},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00022892705735903492,-0.0016176442473273484,-0.001223856420865153],"end_effector_yaw_offset_degrees":0.2410596599537067}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0026268766232961016,-0.0026987005876915695],"position_m":[0.35147312337670394,-0.08669870058769158,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003460223735790895,0.0025982153257394147],"position_m":[0.2711397762642091,-0.3277017846742606,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003963100540917979,0.002442218392661553],"position_m":[0.16466310054091798,0.21664221839266157,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0031272288164902783,0.004283804098400818],"position_m":[0.3472272288164903,0.11948380409840081,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"077c7ed79aded55d352960f0990203ad7147b38be0fa7a5841e81c75032a6815","episode_index":93,"episode_name":"episode_0093"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0093.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_5916/tex_ceiling_textures_3034/tex_floor_textures_6918/tex_table_textures_7642/tex_wall_textures_8373","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":9070818912196907694,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":9070818912196907694,"visual_seed":9070818912196907694,"scene_id":"lab_003","finished_at":"2026-09-04T04:15:10"} +{"episode_id":"ep_000094","started_at":"2026-09-04T04:15:12","dimensions":{"distractor":{"count":33,"items":[{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_0","position":[0.4334822587964611,-0.886457147323575,0.71338606911949],"aabb_xy":[[0.3984822596665053,-0.8922023683992389],[0.4684822579264166,-0.8807119262479107]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_1","position":[0.024038171345743597,0.7725317623611359,0.71338606911949],"aabb_xy":[[-0.06096182707167963,0.687657466898851],[0.10903816976316683,0.8574060578234209]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_2","position":[0.3530650600559315,1.012435916333958,0.71338606911949],"aabb_xy":[[0.3196248848599119,0.9789922905030278],[0.38650523525195113,1.0458795421648879]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_3","position":[-0.5382214503137508,1.7697818837969534,0.71338606911949],"aabb_xy":[[-0.5757214488893715,1.7570455881333955],[-0.5007214517381299,1.7825181794605114]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_4","position":[-0.21709289415745964,-0.20168615761018094,0.71338606911949],"aabb_xy":[[-0.28109289606980203,-0.2575973068681914],[-0.15309289224511732,-0.14577500835217053]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_5","position":[0.12907979329557706,1.2181566231092424,0.71338606911949],"aabb_xy":[[0.10385895643573738,1.1929328722563555],[0.1543006301554167,1.243380373962129]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_6","position":[-0.44528097783577725,0.669044542862582,0.71338606911949],"aabb_xy":[[-0.47974332523391894,0.6345506604647592],[-0.41081863043763533,0.7035384252604046]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_7","position":[-0.05189026496998883,1.6710988095873467,0.71338606911949],"aabb_xy":[[-0.141890264693163,1.6480254570521664],[0.03810973475318534,1.694172162122526]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_8","position":[-0.066812320134503,1.2060062449510887,0.71338606911949],"aabb_xy":[[-0.09721043123364657,1.175599342949419],[-0.036414209035359406,1.236413146952758]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_9","position":[-0.06100158641594411,1.5144699323946997,0.71338606911949],"aabb_xy":[[-0.14100158967995724,1.5009099000857864],[0.018998416848069022,1.528029964703613]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_10","position":[-0.16029519932330094,-0.8857157277014618,0.71338606911949],"aabb_xy":[[-0.1690764264705372,-0.8944954749899922],[-0.15151397217606474,-0.8769359804129319]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_11","position":[0.6924792528843677,-1.2634912829045521,0.71338606911949],"aabb_xy":[[0.6836771975753949,-1.271302609059481],[0.7012813081933403,-1.2556799567496228]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_12","position":[-0.23179855312934544,-1.8913114564365867,0.71338606911949],"aabb_xy":[[-0.27398296729017624,-1.955311456713798],[-0.18961413896851473,-1.8273114561593755]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_13","position":[-0.3536913097839985,-0.6111133956880133,0.71338606911949],"aabb_xy":[[-0.3910225863092412,-0.6457664504828656],[-0.3163600332587559,-0.5764603408931611]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_14","position":[-0.4367993298396896,-0.21166993709653692,0.71338606911949],"aabb_xy":[[-0.486799330858825,-0.24813615283436488],[-0.38679932882055446,-0.17520372135870899]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_15","position":[0.45936713704351906,1.5222027017350386,0.71338606911949],"aabb_xy":[[0.43307831272307834,1.4959312680803871],[0.48565596136395967,1.5484741353896896]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_16","position":[-0.6123032633720942,-1.5855405663254227,0.71338606911949],"aabb_xy":[[-0.6473032625649123,-1.5965076123230852],[-0.5773032641792758,-1.5745735203277598]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_17","position":[0.6429901280767523,-0.5033865451080546,0.71338606911949],"aabb_xy":[[0.5629901278031452,-0.5763360929337713],[0.7229901283503591,-0.4304369972823379]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_18","position":[0.2212783297691132,0.9403548015975463,0.71338606911949],"aabb_xy":[[0.17129537958163385,0.8903548019549856],[0.2712612799565925,0.9903548012401064]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_19","position":[0.5188787986698664,1.3247324697370546,0.71338606911949],"aabb_xy":[[0.45387880078821874,1.273608806030514],[0.5838787965515143,1.3758561334435957]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_20","position":[-0.21142800078885787,-1.4481446413538432,0.71338606911949],"aabb_xy":[[-0.2215097078674313,-1.5281446392459577],[-0.20134629371028434,-1.3681446434617284]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_21","position":[0.044322822289837194,-2.206839447676144,0.71338606911949],"aabb_xy":[[0.003304878903466313,-2.2568394483071015],[0.08534076567620807,-2.156839447045187]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_22","position":[-0.4753709615965236,-2.430660011638216,0.71338606911949],"aabb_xy":[[-0.49247303955489174,-2.447766817169486],[-0.45826888363815543,-2.4135532061069465]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_23","position":[-0.5504930678953869,-0.8671745224102214,0.71338606911949],"aabb_xy":[[-0.6104930684914032,-0.9219869949554448],[-0.4904930672993708,-0.8123620498649978]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_24","position":[0.31410668193016233,-0.9440377073223614,0.71338606911949],"aabb_xy":[[0.29822218866483724,-0.9583906476211854],[0.32999117519548754,-0.9296847670235373]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_25","position":[-0.5354965866800909,0.575973279491186,0.71338606911949],"aabb_xy":[[-0.5553876265604312,0.5633174682064892],[-0.5156055467997507,0.5886290907758829]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_26","position":[-0.6080035438975735,-2.139135893198671,0.71338606911949],"aabb_xy":[[-0.6629772659339064,-2.194135892762904],[-0.5530298218612406,-2.084135893634438]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_27","position":[0.13897485636049123,-1.8888989810031502,0.71338606911949],"aabb_xy":[[0.12464043123432778,-1.900959196557689],[0.15330928148665468,-1.8768387654486114]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_28","position":[0.4956065695976042,0.31165471925556254,0.71338606911949],"aabb_xy":[[0.45810656910024594,0.3076860357074441],[0.5331065700949624,0.31562340280368095]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_29","position":[-0.26071016541383824,0.8629823856472143,0.71338606911949],"aabb_xy":[[-0.2694081277045535,0.8508574113397397],[-0.25201220312312295,0.8751073599546891]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_30","position":[-0.6096324948610821,1.3634532889893314,0.71338606911949],"aabb_xy":[[-0.6508813058909967,1.3084532894771137],[-0.5683836838311672,1.4184532885015486]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_31","position":[0.623764661568339,-0.1617196061800743,0.71338606911949],"aabb_xy":[[0.5597646598903415,-0.2102369976593885],[0.6877646632463362,-0.11320221470076006]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_32","position":[0.174100054618895,0.557763357447794,0.71338606911949],"aabb_xy":[[0.16966942526405482,0.5523149857131114],[0.17853068397373517,0.5632117291824766]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6888162062993214,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3411.png","name":"3411"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3411.png","name":"3411"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8271.png","name":"8271"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/555.png","name":"555"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9597.png","name":"9597"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9307.png","name":"9307"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":797.9004819230402,"rotation_z_degrees":157.9141423486969,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008791845668988031,0.012236470039861221,0.018522152968517124]},{"name":"camera_2","offset_m":[-0.01583718469237048,-0.004648993237645059,-0.0015611958599666617]},{"name":"camera_3","offset_m":[0.003613468093912022,-0.014544599818409953,-0.009268587371635708]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00016512550937680323,0.000673260985758449,-0.001415955705046267],"end_effector_yaw_offset_degrees":0.8306087381572842},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.000842011309652086,0.00043432774124995506,-3.7419322544611586e-05],"end_effector_yaw_offset_degrees":0.22095372004255087},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0004892638870095433,-0.001543232349950098,-0.001262855113521158],"end_effector_yaw_offset_degrees":-0.5487700736059413}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002390459750231484,0.003642455952887651],"position_m":[0.3517095402497685,-0.08035754404711236,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004588939475175409,-0.003995347857679153],"position_m":[0.2791889394751754,-0.3342953478576791,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0011663010952804387,0.004660318002697387],"position_m":[0.16186630109528044,0.2188603180026974,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004175030724219284,-0.0026859151330253695],"position_m":[0.33992496927578075,0.11251408486697463,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"87f6323a763f485dc7330b98f4293787e798991e3aae73a2f35976d4fff0b467","episode_index":94,"episode_name":"episode_0094"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0094.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_3411/tex_ceiling_textures_9307/tex_floor_textures_9597/tex_table_textures_8271/tex_wall_textures_555","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":3482063694795745215,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":3482063694795745215,"visual_seed":3482063694795745215,"scene_id":"lab_003","finished_at":"2026-09-04T04:17:53"} +{"episode_id":"ep_000095","started_at":"2026-09-04T04:17:56","dimensions":{"distractor":{"count":32,"items":[{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_0","position":[-0.1098888328984634,-0.5720326573567118,0.71338606911949],"aabb_xy":[[-0.11717114927512703,-0.6620326609662206],[-0.10260651652179972,-0.48203265374720267]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_1","position":[-0.625785710401675,1.291775451761672,0.71338606911949],"aabb_xy":[[-0.6294889717308138,1.288073433452954],[-0.622082449072536,1.2954774700703895]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_2","position":[0.028398947775393535,-1.3803088686407334,0.71338606911949],"aabb_xy":[[-0.009101052889185167,-1.3959959266409554],[0.06589894843997222,-1.364621810640511]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_3","position":[0.6315775246153359,0.025670415434464022,0.71338606911949],"aabb_xy":[[0.623584034820054,0.017672283493988365],[0.639571014410618,0.03366854737493969]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_4","position":[-0.35403106229630454,-0.6790535552867789,0.71338606911949],"aabb_xy":[[-0.4340310594558798,-0.6906011562445958],[-0.2740310651367292,-0.6675059543289618]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_5","position":[-0.42344636176788536,-0.38557452265753067,0.71338606911949],"aabb_xy":[[-0.4584463600380052,-0.3926486503525188],[-0.3884463634977654,-0.37850039496254245]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_6","position":[-0.3960940061753018,1.2121934444503797,0.71338606911949],"aabb_xy":[[-0.48609400589847596,1.1891200919151996],[-0.3060940064521276,1.2352667969855593]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_7","position":[-0.2728020396721667,-2.375120107303764,0.71338606911949],"aabb_xy":[[-0.3304325085594375,-2.435120106230474],[-0.2151715707848958,-2.315120108377053]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_8","position":[-0.014802016576337507,1.5867871726980645,0.71338606911949],"aabb_xy":[[-0.10480201331194772,1.5336037093807697],[0.0751979801592727,1.6399706360153588]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_9","position":[0.5201266700805545,-0.7108982983757746,0.71338606911949],"aabb_xy":[[0.4815809772553533,-0.7494440694319632],[0.5586723629057554,-0.672352527319586]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_10","position":[0.6904114605293517,0.5459757962925624,0.71338606911949],"aabb_xy":[[0.6715270767608414,0.5270898715122098],[0.7092958442978619,0.5648617210729153]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_11","position":[-0.2918974317387348,1.0300986559753174,0.71338606911949],"aabb_xy":[[-0.2989388826894824,1.023071904237523],[-0.2848559807879872,1.0371254077131118]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_12","position":[0.36854114409034233,-0.5734831016190176,0.71338606911949],"aabb_xy":[[0.3630831984533222,-0.6534831049266767],[0.37399908972736234,-0.4934830983113585]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_13","position":[-0.5159992345064963,-0.13141764889933016,0.71338606911949],"aabb_xy":[[-0.521580906140625,-0.14391764871710563],[-0.5104175628723674,-0.11891764908155465]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_14","position":[0.5283216665160175,-0.9360595147942634,0.71338606911949],"aabb_xy":[[0.4908216660186593,-0.9400281983423817],[0.5658216670133758,-0.9320908312461449]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_15","position":[0.5763686292169625,0.9915762169326348,0.71338606911949],"aabb_xy":[[0.49636862595911957,0.9115797091406508],[0.6563686324748055,1.0715727247246187]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_16","position":[-0.5254638144058215,-1.0681706205541999,0.71338606911949],"aabb_xy":[[-0.5954638162145669,-1.0895243893183875],[-0.455463812597076,-1.0468168517900127]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_17","position":[-0.3432965979874271,0.9245251791647631,0.71338606911949],"aabb_xy":[[-0.3633550096006674,0.9044600922556055],[-0.32323818637418683,0.9445902660739206]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_18","position":[0.35633436417730024,1.5069952827861939,0.71338606911949],"aabb_xy":[[0.35149076941607027,1.5021436303072098],[0.3611779589385302,1.511846935265178]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_19","position":[-0.5479883436312051,1.6934050744234947,0.71338606911949],"aabb_xy":[[-0.6079883434777719,1.636586452230456],[-0.4879883437846383,1.7502236966165334]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_20","position":[0.33936015267429953,0.8661257374884999,0.71338606911949],"aabb_xy":[[0.3143601535086664,0.8591734917831432],[0.36436015183993264,0.8730779831938563]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_21","position":[-0.2775630489292348,-1.231197570162368,0.71338606911949],"aabb_xy":[[-0.2889247835825209,-1.242566036568656],[-0.26620131427594856,-1.2198291037560798]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_22","position":[-0.42016287894406174,1.4496725135986277,0.71338606911949],"aabb_xy":[[-0.4526245798259891,1.4195396814837247],[-0.38770117806213417,1.4798053457135298]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_23","position":[-0.0457334762987186,-0.3524715447250055,0.71338606911949],"aabb_xy":[[-0.05515095086858135,-0.36188772186272455],[-0.03631600172885585,-0.3430553675872865]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_24","position":[0.38393366524670824,-1.5235630071017623,0.71338606911949],"aabb_xy":[[0.3039336682324602,-1.5436975587751736],[0.46393366226095617,-1.503428455428351]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_25","position":[0.36229633200689504,1.288756429829168,0.71338606911949],"aabb_xy":[[0.3510512764362772,1.2775146321050728],[0.3735413875775129,1.2999982275532633]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_26","position":[0.5956810391928924,-2.3475810674608835,0.71338606911949],"aabb_xy":[[0.5316810368500907,-2.3925219187050155],[0.6596810415356938,-2.3026402162167505]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_27","position":[-0.6297531168613306,-0.7301216597302547,0.71338606911949],"aabb_xy":[[-0.6467632141513813,-0.7462561482285284],[-0.61274301957128,-0.7139871712319805]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_28","position":[-0.5456098022121043,-1.4053519728850217,0.71338606911949],"aabb_xy":[[-0.5954924990898005,-1.4553519721312964],[-0.4957271053344081,-1.355351973638747]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_29","position":[0.027210067712451602,1.002237807333568,0.71338606911949],"aabb_xy":[[-0.000634969068155522,0.9714533085952564],[0.055055104493058726,1.0330223060718797]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_30","position":[-0.3488912319025453,-0.9524212358515218,0.71338606911949],"aabb_xy":[[-0.35492824490321007,-0.9584479369204701],[-0.3428542189018806,-0.9463945347825737]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_31","position":[0.6307158018593344,-1.164040599076497,0.71338606911949],"aabb_xy":[[0.5607157984677723,-1.1993563727799275],[0.7007158052508963,-1.1287248253730657]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6821138656618713,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/774.png","name":"774"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/774.png","name":"774"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2488.png","name":"2488"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8028.png","name":"8028"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3177.png","name":"3177"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3811.png","name":"3811"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":774.514699522513,"rotation_z_degrees":262.94015121120145,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009907115889725402,-0.016861654875913578,-0.010573214895081047]},{"name":"camera_2","offset_m":[-0.01701369503377957,0.01608905567910852,0.019618859761564866]},{"name":"camera_3","offset_m":[0.0048052797434159356,0.009094694431125702,-0.019169574099769847]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006519562518464018,-0.0005561628725571431,0.00040053990942406307],"end_effector_yaw_offset_degrees":-0.5011510575279488},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019681842073305533,-0.0017622601276432363,-0.0015262851385638944],"end_effector_yaw_offset_degrees":0.379103485283788},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006949603552206325,0.0008650827038697746,0.0004579568928452602],"end_effector_yaw_offset_degrees":0.4564970099005905}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0020500778394841376,0.002628069697222203],"position_m":[0.35615007783948416,-0.0813719303027778,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0013202331871793559,0.003969556615532727],"position_m":[0.27592023318717934,-0.32633044338446726,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004828340576463108,-0.0022305815766775062],"position_m":[0.16552834057646312,0.2119694184233225,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0033803929882103745,-0.00198424560530743],"position_m":[0.34071960701178966,0.11321575439469257,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"66eb7031f8ff6ec5e84c352c1128b4a5eb8877e8b6931f1d0d759b798341a219","episode_index":95,"episode_name":"episode_0095"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0095.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_774/tex_ceiling_textures_3811/tex_floor_textures_3177/tex_table_textures_2488/tex_wall_textures_8028","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":1943044328993506390,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":1943044328993506390,"visual_seed":1943044328993506390,"scene_id":"lab_003","finished_at":"2026-09-04T04:20:31"} +{"episode_id":"ep_000096","started_at":"2026-09-04T04:20:34","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_0","position":[-0.43176199049777475,-0.8828932377984098,0.71338606911949],"aabb_xy":[[-0.4957619876098805,-0.9319256075928204],[-0.3677619933856691,-0.8338608680039992]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_1","position":[-0.48551983212479355,1.752250036394639,0.71338606911949],"aabb_xy":[[-0.49036342688602347,1.7473983839156548],[-0.4806762373635635,1.757101688873623]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_2","position":[-0.36421509467013996,0.045384712678740335,0.71338606911949],"aabb_xy":[[-0.40523303805651084,-0.004615287952217002],[-0.3231971512837691,0.09538471330969767]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_3","position":[-0.21868322679230479,-1.453352981869167,0.71338606911949],"aabb_xy":[[-0.29868323005014774,-1.533349489661151],[-0.13868322353446183,-1.373356474077183]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_4","position":[-0.19112585694281725,1.7499182889340301,0.71338606911949],"aabb_xy":[[-0.2811258606197354,1.6884858823569253],[-0.10112585326589904,1.811350695511134]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_5","position":[0.20559832528483957,-1.6804362142897773,0.71338606911949],"aabb_xy":[[0.14559832477698664,-1.7372829479756986],[0.2655983257926925,-1.623589480603856]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_6","position":[0.3434458249551371,-2.474075644210736,0.71338606911949],"aabb_xy":[[0.3134782680453115,-2.5040756445086214],[0.3734133818649628,-2.4440756439128495]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_7","position":[-0.0006779162488077528,-1.9067294928934702,0.71338606911949],"aabb_xy":[[-0.017688013538858405,-1.9228639813917443],[0.0163321810412429,-1.8905950043951965]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_8","position":[-0.5487781198550145,0.2138067070254257,0.71338606911949],"aabb_xy":[[-0.5987781192952101,0.1638387825411094],[-0.49877812041481884,0.263774631509742]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_9","position":[0.6035007083965038,-1.9378014229730196,0.71338606911949],"aabb_xy":[[0.5138136320883884,-2.0278014232274697],[0.6931877847046193,-1.8478014227185686]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_10","position":[0.44266489158795763,1.1190227759624731,0.71338606911949],"aabb_xy":[[0.4076648933178377,1.111948648267485],[0.4776648898580775,1.1260969036574613]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_11","position":[0.5137428537983049,0.691658927429605,0.71338606911949],"aabb_xy":[[0.4337428567840569,0.6715243757561937],[0.5937428508125528,0.7117934791030163]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_12","position":[0.07605819530255553,1.363357817547608,0.71338606911949],"aabb_xy":[[0.05694588794457667,1.3442230386703657],[0.0951705026605344,1.3824925964248498]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_13","position":[-0.5226319163898511,1.6152466673363084,0.71338606911949],"aabb_xy":[[-0.5450966863612562,1.592746666457448],[-0.500167146418446,1.637746668215169]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_14","position":[0.4654946725472031,-0.8173339644533588,0.71338606911949],"aabb_xy":[[0.4546541943206882,-0.8345202457440076],[0.476335150773718,-0.80014768316271]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_15","position":[0.6437187054354201,0.46744134685445937,0.71338606911949],"aabb_xy":[[0.6087187054589243,0.4579767308068428],[0.6787187054119159,0.47690596290207604]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_16","position":[-0.5528592971319395,-1.286842406812671,0.71338606911949],"aabb_xy":[[-0.5753592971420879,-1.3009386264522742],[-0.5303592971217913,-1.2727461871730676]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_17","position":[-0.4273654490610771,-1.1902491710008503,0.71338606911949],"aabb_xy":[[-0.4338670855690818,-1.2000169930271603],[-0.4208638125530726,-1.1804813489745407]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_18","position":[0.454368583865957,-2.2373883346294687,0.71338606911949],"aabb_xy":[[0.3643685871303468,-2.2905717979467632],[0.5443685806015672,-2.1842048713121742]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_19","position":[-0.16258867084457196,-1.7640750268927667,0.71338606911949],"aabb_xy":[[-0.18001938592357844,-1.7813471415566173],[-0.14515795576556542,-1.7468029122289157]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_20","position":[-0.4474901599305424,-2.5084093515943446,0.71338606911949],"aabb_xy":[[-0.4812657191212354,-2.5224478468075096],[-0.41371460073984945,-2.4943708563811797]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_21","position":[0.5065613249223491,-0.45624590109291097,0.71338606911949],"aabb_xy":[[0.4978633626316339,-0.46837087540038574],[0.5152592872130645,-0.4441209267854363]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_22","position":[-0.019906176066471937,-2.5191537454461574,0.71338606911949],"aabb_xy":[[-0.06990617642703799,-2.56913373265576],[0.030093824294094126,-2.469173758236554]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_23","position":[0.11816784507553879,0.9941540337635564,0.71338606911949],"aabb_xy":[[0.05416784480156056,0.9440879335662683],[0.18216784534951702,1.0442201339608443]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_24","position":[0.32581234500472656,1.0079071131470094,0.71338606911949],"aabb_xy":[[0.2908123451087077,0.9995328776350696],[0.36081234490074543,1.0162813486589495]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_25","position":[0.23816746933995547,0.7892668330471193,0.71338606911949],"aabb_xy":[[0.2156674690964401,0.7770621983873475],[0.26066746958347087,0.8014714677068914]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_26","position":[-0.5941943834949265,1.0846807600379536,0.71338606911949],"aabb_xy":[[-0.6117410784110454,1.0471807584737023],[-0.5766476885788075,1.1221807616022048]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_27","position":[0.5947769500826299,-0.40794204662053213,0.71338606911949],"aabb_xy":[[0.5884648505462915,-0.41370898587375093],[0.6010890496189683,-0.4021751073673133]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_28","position":[-0.4948406080893992,-0.5852833275165308,0.71338606911949],"aabb_xy":[[-0.5848406078125734,-0.6083566800517105],[-0.40484060836622504,-0.5622099749813508]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_29","position":[0.13453130680548442,-2.329246799406042,0.71338606911949],"aabb_xy":[[0.1146402669251442,-2.341902610690739],[0.1544223466858247,-2.3165909881213453]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_30","position":[-0.36217340213802696,0.9574489028051003,0.71338606911949],"aabb_xy":[[-0.39920751156608664,0.9230716954713907],[-0.32513929270996716,0.9918261101388095]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_31","position":[-0.501950590831696,-1.5432700581330732,0.71338606911949],"aabb_xy":[[-0.563541350055689,-1.6072700562421203],[-0.4403598316077033,-1.4792700600240265]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_32","position":[0.04618965521313456,1.1611589961675017,0.71338606911949],"aabb_xy":[[0.016197992479264227,1.1311589968307012],[0.07618131794700489,1.1911589955043023]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_33","position":[-0.4464351460823196,-0.17028902434673565,0.71338606911949],"aabb_xy":[[-0.4837664226075622,-0.20494207914158796],[-0.409103869557077,-0.13563596955188334]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6858480314114329,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5512.png","name":"5512"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5512.png","name":"5512"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/896.png","name":"896"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8841.png","name":"8841"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8175.png","name":"8175"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3561.png","name":"3561"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":660.2672354310881,"rotation_z_degrees":259.60518423389965,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0012226947213211103,-0.0015100939906225845,-0.003981883993751038]},{"name":"camera_2","offset_m":[0.01011233643540791,-0.0006727577814550356,-0.003870007524240368]},{"name":"camera_3","offset_m":[0.016079032953188844,-0.0010810161099289659,0.00011699895925999446]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011068609426622398,0.0002598903703778044,-3.464976741636037e-05],"end_effector_yaw_offset_degrees":-0.25690853674925873},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016412964584576525,-0.0006380543724081545,-0.0008676636779285758],"end_effector_yaw_offset_degrees":0.6389391945705631},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016834821699010063,-0.00016535900911124465,-0.0005543405085673384],"end_effector_yaw_offset_degrees":0.216534429900465}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0028213852536876595,-0.00032639895965175594],"position_m":[0.35692138525368766,-0.08432639895965176,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004983901810760722,0.0028899321640900874],"position_m":[0.27958390181076076,-0.32741006783590987,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002861663514810444,0.0010949695443401531],"position_m":[0.16356166351481044,0.21529496954434016,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0023311235411362587,0.0034820961876595854],"position_m":[0.3417688764588638,0.11868209618765958,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"068e132adb39a4b866a26ca854cfbafadb53ff85e60583ba72cd48d22b3710cb","episode_index":96,"episode_name":"episode_0096"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0096.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_5512/tex_ceiling_textures_3561/tex_floor_textures_8175/tex_table_textures_896/tex_wall_textures_8841","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":1736628950199238487,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":1736628950199238487,"visual_seed":1736628950199238487,"scene_id":"lab_003","finished_at":"2026-09-04T04:23:16"} +{"episode_id":"ep_000097","started_at":"2026-09-04T04:23:19","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_0","position":[0.2736580200731894,1.1092930567485246,0.71338606911949],"aabb_xy":[[0.19365802266959595,1.0293004855503418],[0.35365801747678277,1.1892856279467074]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_1","position":[0.11325396261513465,1.1829929824354357,0.71338606911949],"aabb_xy":[[0.09562112702160708,1.1653700364198127],[0.13088679820866223,1.2006159284510587]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_2","position":[-0.06564309810278168,1.156152681680367,0.71338606911949],"aabb_xy":[[-0.07579611365693104,1.120083140107626],[-0.055490082548632275,1.1922222232531068]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_3","position":[0.35003064261276307,-1.3153362971801708,0.71338606911949],"aabb_xy":[[0.3275306421007224,-1.337828155545569],[0.3725306431248036,-1.2928444388147724]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_4","position":[-0.5122746423599484,0.5745227407632436,0.71338606911949],"aabb_xy":[[-0.5622575925474276,0.5245227411206831],[-0.46229169217246896,0.6245227404058039]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_5","position":[0.32817823707642146,-2.175012348663699,0.71338606911949],"aabb_xy":[[0.2681782368250203,-2.229293673700163],[0.38817823732782264,-2.120731023627234]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_6","position":[-0.4808396163193336,-0.3787498639629452,0.71338606911949],"aabb_xy":[[-0.4868766293199985,-0.38477656503189345],[-0.474802603318669,-0.372723162893997]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_7","position":[-0.6376961373217209,-1.0532314143999426,0.71338606911949],"aabb_xy":[[-0.6741919579489996,-1.0897153568267],[-0.6012003166944421,-1.0167474719731848]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_8","position":[0.573283656246899,1.742783369165529,0.71338606911949],"aabb_xy":[[0.5660224086764916,1.7299963589020195],[0.5805449038173065,1.7555703794290385]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_9","position":[-0.5915188808334398,-0.6910515029325568,0.71338606911949],"aabb_xy":[[-0.6812059571415553,-0.7810515031870073],[-0.5018318045253244,-0.6010515026781063]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_10","position":[-0.41859577761945793,-2.4114270287540935,0.71338606911949],"aabb_xy":[[-0.452074944880499,-2.444906142125201],[-0.3851166103584171,-2.377947915382987]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_11","position":[-0.4439220787270994,0.0025578084924782196,0.71338606911949],"aabb_xy":[[-0.4483527080819395,-0.00289056324220438],[-0.43949144937225915,0.00800618022716082]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_12","position":[0.6088705843244617,-0.8002448243036238,0.71338606911949],"aabb_xy":[[0.5888121727112214,-0.8203099112127812],[0.628928995937702,-0.7801797373944661]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_13","position":[-0.1680123778703988,-0.7805234333043898,0.71338606911949],"aabb_xy":[[-0.24801237488464678,-0.800657984977801],[-0.08801238085615082,-0.7603888816309785]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_14","position":[0.4026783684019757,0.3354830570065319,0.71338606911949],"aabb_xy":[[0.3911093876550391,0.31048305688960026],[0.41424734914891226,0.3604830571234637]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_15","position":[-0.6306933177799359,0.16509430535813374,0.71338606911949],"aabb_xy":[[-0.6719421288098505,0.11009430584591627],[-0.589444506750021,0.22009430487035117]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_16","position":[0.444645148913162,-1.9890033599620025,0.71338606911949],"aabb_xy":[[0.40714514856493417,-2.000794755543086],[0.4821451492613897,-1.9772119643809187]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_17","position":[-0.501086196622266,-2.065170303767898,0.71338606911949],"aabb_xy":[[-0.5810861976953862,-2.0749483501052826],[-0.4210861955491455,-2.0553922574305137]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_18","position":[-0.6302165974089116,1.3168046436011704,0.71338606911949],"aabb_xy":[[-0.6677165989245433,1.3055778705850252],[-0.5927165958932799,1.3280314166173153]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_19","position":[0.12000644078868972,1.7103932710779515,0.71338606911949],"aabb_xy":[[0.09546022516593901,1.6801443745289144],[0.14455265641144044,1.7406421676269885]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_20","position":[-0.5493018321724583,-1.6435718608582017,0.71338606911949],"aabb_xy":[[-0.5838929150265034,-1.7085718611432328],[-0.514710749318413,-1.5785718605731707]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_21","position":[0.23665033531604807,1.5467307426647472,0.71338606911949],"aabb_xy":[[0.19915033549901445,1.5420925313536054],[0.27415033513308157,1.551368953975889]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_22","position":[-0.2268045835906486,-1.8951365638126252,0.71338606911949],"aabb_xy":[[-0.23164817835187856,-1.8999882162916095],[-0.22196098882941862,-1.8902849113336413]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6811195162712452,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8835.png","name":"8835"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8835.png","name":"8835"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2218.png","name":"2218"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/364.png","name":"364"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1514.png","name":"1514"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/508.png","name":"508"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":531.1398141433597,"rotation_z_degrees":354.0941221088864,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005647181678898376,0.006057837956976134,-0.018437584305115867]},{"name":"camera_2","offset_m":[-0.012602714242718376,-0.011294096051589868,0.003975599967074039]},{"name":"camera_3","offset_m":[-0.016494429961883196,0.01530478279715142,-0.0018128315731935768]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-9.237438130544479e-06,-0.0005375067435924384,6.445673665588089e-05],"end_effector_yaw_offset_degrees":0.14094415662733195},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008004695439104521,0.0013189206915654298,-0.0007431930924887702],"end_effector_yaw_offset_degrees":-0.9360725666029235},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008159947350120645,0.00040693742231393774,-0.001941178337024196],"end_effector_yaw_offset_degrees":0.8157476103232117}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0008977180920642829,-0.0006631653444961576],"position_m":[0.35320228190793573,-0.08466316534449617,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00013710181163014735,0.003876989280121799],"position_m":[0.27473710181163014,-0.32642301071987817,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004018835345630201,0.0008029347440131774],"position_m":[0.1647188353456302,0.2150029347440132,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0018984491291235053,0.0019397445174611757],"position_m":[0.3422015508708765,0.11713974451746118,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"761d6275c46f9006ffdbab022aa72a0b540e787af504fa95a0274a1554afa4f4","episode_index":97,"episode_name":"episode_0097"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0097.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_8835/tex_ceiling_textures_508/tex_floor_textures_1514/tex_table_textures_2218/tex_wall_textures_364","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":503671285268109626,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":503671285268109626,"visual_seed":503671285268109626,"scene_id":"lab_003","finished_at":"2026-09-04T04:25:51"} +{"episode_id":"ep_000098","started_at":"2026-09-04T04:25:54","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_0","position":[-0.35203948439636923,-1.9865649644668828,0.71338606911949],"aabb_xy":[[-0.41603948768607735,-2.0298998834708],[-0.2880394811066611,-1.9432300454629647]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_1","position":[0.295825908376512,-2.0247756518357747,0.71338606911949],"aabb_xy":[[0.2318259119491901,-2.071945275657871],[0.3598259048038339,-1.9776060280136782]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_2","position":[0.3374201243465258,-1.0663708192880106,0.71338606911949],"aabb_xy":[[0.3149237029126617,-1.088870819094758],[0.3599165457803899,-1.0438708194812631]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_3","position":[-0.42443482262637455,0.6610798082114164,0.71338606911949],"aabb_xy":[[-0.43788134926041794,0.6476099565583251],[-0.4109882959923313,0.6745496598645075]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_4","position":[-0.4022529407669,1.2156169168187079,0.71338606911949],"aabb_xy":[[-0.4197528742008833,1.1981169168984729],[-0.38475300733291656,1.233116916738942]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_5","position":[-0.34899673922570856,1.6324274084443409,0.71338606911949],"aabb_xy":[[-0.35984834547458416,1.62156811771669],[-0.33814513297683296,1.643286699171992]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_6","position":[-0.05513770249095329,0.9332169318139218,0.71338606911949],"aabb_xy":[[-0.062179153441700885,0.9261901800761274],[-0.04809625154020569,0.9402436835517165]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_7","position":[0.37540365408679155,1.7862841758231016,0.71338606911949],"aabb_xy":[[0.3104036559308725,1.7599879312731894],[0.4404036522427106,1.8125804203730138]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_8","position":[-0.5106652849070116,-0.9541626635883362,0.71338606911949],"aabb_xy":[[-0.5479965614322542,-0.9888157183831884],[-0.473334008381769,-0.9195096087934839]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_9","position":[0.1461164495978341,-1.1172370872505897,0.71338606911949],"aabb_xy":[[0.08211645320226102,-1.181200375669323],[0.21011644599340717,-1.053273798831856]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_10","position":[-0.1867477889500101,0.7948178585440844,0.71338606911949],"aabb_xy":[[-0.2517477899071373,0.7428696466103788],[-0.1217477879928829,0.84676607047779]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_11","position":[-0.08871871991834956,-1.748016142061545,0.71338606911949],"aabb_xy":[[-0.12371871981436844,-1.7563903775734848],[-0.0537187200223307,-1.7396419065496047]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_12","position":[0.4967301052962527,0.7455525409582564,0.71338606911949],"aabb_xy":[[0.48860241710293945,0.7366389325475489],[0.5048577934895659,0.7544661493689642]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_13","position":[-0.4278267576567958,-1.4445528957685978,0.71338606911949],"aabb_xy":[[-0.4978267597882252,-1.4673148613942935],[-0.35782675552536614,-1.4217909301429021]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_14","position":[0.32052244892643045,-1.269821363035213,0.71338606911949],"aabb_xy":[[0.25652244822296116,-1.3158397455081343],[0.3845224496298999,-1.2238029805622923]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_15","position":[0.464178036050477,-1.5025609047777126,0.71338606911949],"aabb_xy":[[0.3991780350499765,-1.5533472699323874],[0.5291780370509775,-1.4517745396230375]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_16","position":[0.35223363408401376,1.2047103594147512,0.71338606911949],"aabb_xy":[[0.2982180378021137,1.1407103565224939],[0.4062492303659137,1.2687103623070082]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_17","position":[0.5369506420137096,-2.0104852383907885,0.71338606911949],"aabb_xy":[[0.5034714747526687,-2.0439643517618955],[0.5704298092747506,-1.9770061250196815]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_18","position":[0.5834118921661102,-2.1719456195598936,0.71338606911949],"aabb_xy":[[0.5194118935795378,-2.2189525829594023],[0.6474118907526827,-2.124938656160385]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_19","position":[0.4096229585288549,-0.5225085322073992,0.71338606911949],"aabb_xy":[[0.39212295828380545,-0.540008320046966],[0.4271229587739042,-0.5050087443678323]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_20","position":[0.2530260975128088,-0.5896201658474287,0.71338606911949],"aabb_xy":[[0.2278052606529691,-0.6148439167003154],[0.2782469343726484,-0.5643964149945419]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_21","position":[0.3305638046557011,-2.3632768786680165,0.71338606911949],"aabb_xy":[[0.3060175890329504,-2.3935257752170536],[0.35511002027845184,-2.3330279821189794]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_22","position":[-0.12064834692726878,-0.7928812521835942,0.71338606911949],"aabb_xy":[[-0.17064834794640404,-0.8293474679214223],[-0.07064834590813351,-0.7564150364457665]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_23","position":[-0.4461850184715679,1.0566799598153231,0.71338606911949],"aabb_xy":[[-0.5101850198795586,1.0048910082913984],[-0.3821850170635772,1.1084689113392479]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_24","position":[-0.6254674130001562,1.5138303833396631,0.71338606911949],"aabb_xy":[[-0.6754674143610434,1.4638524787642475],[-0.575467411639269,1.5638082879150788]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_25","position":[0.2089707340687338,1.0275013476065311,0.71338606911949],"aabb_xy":[[0.20483487773603362,0.9900013481621741],[0.213106590401434,1.0650013470508881]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_26","position":[-0.6247715243306113,-2.3141408590576376,0.71338606911949],"aabb_xy":[[-0.6310836238669496,-2.3199077983108563],[-0.6184594247942728,-2.308373919804419]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_27","position":[0.5023721214816221,0.6478996055211321,0.71338606911949],"aabb_xy":[[0.438372119261215,0.6035265213958437],[0.566372123702029,0.6922726896464203]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_28","position":[-0.2463469130960093,1.063654727453549,0.71338606911949],"aabb_xy":[[-0.3263469110767943,1.0560531864916969],[-0.16634691511522423,1.0712562684154008]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_29","position":[-0.025736403506882444,-1.869513840931508,0.71338606911949],"aabb_xy":[[-0.03395094862256641,-1.878190431229149],[-0.017521858391198453,-1.8608372506338664]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_30","position":[-0.43289920716471414,-2.239081251663021,0.71338606911949],"aabb_xy":[[-0.48002858616654975,-2.3030812527074227],[-0.3857698281628784,-2.175081250618619]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6825047926442371,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6527.png","name":"6527"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6527.png","name":"6527"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7597.png","name":"7597"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5451.png","name":"5451"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1822.png","name":"1822"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5402.png","name":"5402"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":551.9624880968053,"rotation_z_degrees":190.36641010371548,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.002061750543060629,-0.008919851513350886,0.01611605478782657]},{"name":"camera_2","offset_m":[0.009079900040794075,-0.01938480432474884,0.001992069853199826]},{"name":"camera_3","offset_m":[-0.002947665514144028,-0.0014724248712611535,0.018261054232951896]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009971037960137311,0.0014804721699699605,-0.0015796644375862768],"end_effector_yaw_offset_degrees":0.09647834838775626},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00036656161967244536,-0.0010484661019651213,-0.0005157077413491091],"end_effector_yaw_offset_degrees":0.9103076043471343},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00030159442888067823,-0.0003863609545303609,0.0010411427551735228],"end_effector_yaw_offset_degrees":-0.16730555459931118}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00044059339573127455,-0.003117554393024329],"position_m":[0.35365940660426876,-0.08711755439302434,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0006069031203393971,0.001850566806807237],"position_m":[0.2752069031203394,-0.32844943319319275,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0008191107635677573,-0.0025106426560195117],"position_m":[0.16151911076356776,0.21168935734398048,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0004919407353644791,0.0029348619050713664],"position_m":[0.3445919407353645,0.11813486190507136,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5ac050e992ce81c60fe6ad128bd019abd5fe56cc905813a92ffad1bc9d280833","episode_index":98,"episode_name":"episode_0098"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0098.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_6527/tex_ceiling_textures_5402/tex_floor_textures_1822/tex_table_textures_7597/tex_wall_textures_5451","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":1592262532349243951,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":1592262532349243951,"visual_seed":1592262532349243951,"scene_id":"lab_003","finished_at":"2026-09-04T04:28:10"} +{"episode_id":"ep_000099","started_at":"2026-09-04T04:28:12","dimensions":{"distractor":{"count":28,"items":[{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_0","position":[0.19549506311903253,-1.88300956789891,0.71338606911949],"aabb_xy":[[0.15799506277080475,-1.8948009634799936],[0.23299506346726026,-1.8712181723178265]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_1","position":[0.2594344237740245,-0.5327982668500155,0.71338606911949],"aabb_xy":[[0.2530206101308395,-0.5392080870976838],[0.26584823741720937,-0.5263884466023471]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_2","position":[-0.2826169741537901,0.5097133983105566,0.71338606911949],"aabb_xy":[[-0.3476169741880929,0.46301272163022933],[-0.21761697411948744,0.5564140749908839]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_3","position":[0.5064871842571073,1.5260961451362518,0.71338606911949],"aabb_xy":[[0.4214871855650325,1.4941102817413727],[0.5914871829491818,1.5580820085311304]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_4","position":[-0.5874580696262763,0.9640461239399256,0.71338606911949],"aabb_xy":[[-0.6324580710925052,0.9190462670784451],[-0.5424580681600475,1.0090459808014063]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_5","position":[0.405017024127323,1.1480049113136466,0.71338606911949],"aabb_xy":[[0.34989181849773215,1.0880049098723592],[0.4601422297569137,1.2080049127549335]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_6","position":[0.4871269882155129,-0.36086474364370824,0.71338606911949],"aabb_xy":[[0.41712698640676743,-0.3822185124078956],[0.5571269900242584,-0.33951097487952087]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_7","position":[-0.6473901772301868,0.45504585404334863,0.71338606911949],"aabb_xy":[[-0.6719363928529374,0.4247969574943116],[-0.6228439616074359,0.48529475059238575]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_8","position":[0.08634838029312619,-1.3465576355567173,0.71338606911949],"aabb_xy":[[0.08238789652339182,-1.3542255001422379],[0.09030886406286057,-1.3388897709711967]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_9","position":[0.05877548598815696,-1.6256735005167795,0.71338606911949],"aabb_xy":[[-0.006224515117786315,-1.6506388735849078],[0.12377548709410024,-1.6007081274486512]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_10","position":[0.42652746697682686,-1.1260152176542573,0.71338606911949],"aabb_xy":[[0.3625274683902544,-1.173022181053766],[0.4905274655633993,-1.0790082542547486]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_11","position":[0.5650790118844822,0.6422281971391839,0.71338606911949],"aabb_xy":[[0.5280449024564224,0.6078509898054745],[0.6021131213125419,0.6766054044728933]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_12","position":[-0.41760689222251524,-0.9725732417976631,0.71338606911949],"aabb_xy":[[-0.42573458041582846,-0.9814868502083708],[-0.409479204029202,-0.9636596333869555]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_13","position":[0.0822519932951219,-1.4796290167164285,0.71338606911949],"aabb_xy":[[0.017251992337994692,-1.531577228650134],[0.1472519942522491,-1.4276808047827227]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_14","position":[0.20531628566079152,-2.433630913514394,0.71338606911949],"aabb_xy":[[0.15532145273284992,-2.4836309124096374],[0.2553111185887331,-2.3836309146191503]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_15","position":[-0.3943359239394399,-2.575730515085453,0.71338606911949],"aabb_xy":[[-0.411835923073807,-2.5856101421230404],[-0.37683592480507266,-2.5658508880478648]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_16","position":[0.26286840263248124,-1.3221464335248372,0.71338606911949],"aabb_xy":[[0.19886840533013478,-1.366512860492694],[0.3268683999348276,-1.2777800065569804]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_17","position":[-0.14974605732686452,1.0227315017034058,0.71338606911949],"aabb_xy":[[-0.16642319331996003,1.0060315777294755],[-0.13306892133376902,1.039431425677336]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_18","position":[-0.3148804046292755,-1.5428181202377247,0.71338606911949],"aabb_xy":[[-0.3323804048743249,-1.5603179080772915],[-0.29738040438422614,-1.5253183323981578]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_19","position":[0.5501525061157635,0.33555227298109847,0.71338606911949],"aabb_xy":[[0.4951787840794306,0.2805522734168653],[0.6051262281520964,0.39055227254533165]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_20","position":[-0.21320968968698945,1.5126960336953155,0.71338606911949],"aabb_xy":[[-0.2507096901843477,1.5087273501471967],[-0.1757096891896312,1.5166647172434338]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_21","position":[-0.5017064387176714,0.7411278083361932,0.71338606911949],"aabb_xy":[[-0.5145783422186115,0.6611278079223569],[-0.4888345352167313,0.8211278087500292]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_22","position":[0.07268684915214596,0.8914582767968784,0.71338606911949],"aabb_xy":[[0.062275290471662234,0.8861125434609797],[0.08309840783262966,0.8968040101327767]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_23","position":[0.35581379951882774,-1.013141158246285,0.71338606911949],"aabb_xy":[[0.35085777933394663,-1.0356411584484067],[0.36076981970370897,-0.9906411580441634]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_24","position":[-0.6076556799183535,-0.7077348154153074,0.71338606911949],"aabb_xy":[[-0.6355007166989607,-0.738519314153619],[-0.5798106431377464,-0.6769503166769957]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_25","position":[-0.41902060495266114,0.294198044060046,0.71338606911949],"aabb_xy":[[-0.4243531196072742,0.2888737158148104],[-0.4136880902980482,0.2995223723052816]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_26","position":[-0.25318380554439507,1.640263655367248,0.71338606911949],"aabb_xy":[[-0.27076210773334186,1.622689165793143],[-0.23560550335544816,1.657838144941353]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_27","position":[0.6545923328073329,-2.346200016400209,0.71338606911949],"aabb_xy":[[0.6427202497958318,-2.431200016093859],[0.666464415818834,-2.2612000167065585]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6873946152473399,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2592.png","name":"2592"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2592.png","name":"2592"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1462.png","name":"1462"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/782.png","name":"782"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2508.png","name":"2508"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7381.png","name":"7381"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":746.528900601868,"rotation_z_degrees":335.54085299805257,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01835868666281265,0.017374202779784704,0.015297799340704816]},{"name":"camera_2","offset_m":[-0.009685969391130183,-0.010903379590840995,0.016905253107683166]},{"name":"camera_3","offset_m":[0.015554245160805596,-0.011517276032827924,0.01235072210654874]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008038532416531513,0.0003674855369359448,0.0008193284832183779],"end_effector_yaw_offset_degrees":0.7364125923509206},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0004384483442111558,0.0009877294203325467,-0.0014327245245717001],"end_effector_yaw_offset_degrees":-0.053294061355459554},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-5.40135155603365e-05,0.0016281475797655727,1.3171644036615894e-05],"end_effector_yaw_offset_degrees":-0.7915866365515907}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002471273252671962,-0.00018205870793913757],"position_m":[0.35657127325267196,-0.08418205870793914,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004909120783308203,-0.0004737331873216899],"position_m":[0.2795091207833082,-0.3307737331873217,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0028300962080036796,-0.002893803372424103],"position_m":[0.15786990379199634,0.2113061966275759,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00015704991183354035,-0.0029548953409733727],"position_m":[0.3439429500881665,0.11224510465902662,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"98f5e9b1d151e3c33c8df519fedb01e7012afe0f5f0ba7b66c0adc04babefed8","episode_index":99,"episode_name":"episode_0099"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/dataset/episode_0099.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_2592/tex_ceiling_textures_7381/tex_floor_textures_2508/tex_table_textures_1462/tex_wall_textures_782","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":5801042333034380558,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":5801042333034380558,"visual_seed":5801042333034380558,"scene_id":"lab_003","finished_at":"2026-09-04T04:30:37"} diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e650cef731030705800d7ff1245d6212fb79f8a1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/resolved_config.yaml @@ -0,0 +1,233 @@ +name: lab3_heat_2beaker_s03_plr_hta_00031 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker a from home. Place beaker a on the heater platform. + Press the heater button to start heating. + layout_id: layout_00031 + reproducibility: + enabled: true + layout_id: layout_00031 + action_seed: 6098556129387905517 + step_seeds: + - 4567401361451441112 + - 7000790218311912638 + - 7522013946436761511 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.3541 + - 0.3541 + 'y': + - -0.084 + - -0.084 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.1607 + - 0.1607 + 'y': + - 0.2142 + - 0.2142 + z: + - 0.0 + - 0.0 + role: source + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.3441 + - 0.3441 + 'y': + - 0.1152 + - 0.1152 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2746 + - 0.2746 + 'y': + - -0.3303 + - -0.3303 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + - name: heat_button + path: /World/heat_device/button + parent_object: heat_device + steps: + - skill: pick + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.4 + gripper_distances: 0.018 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + pickz_offset: -0.01 + - skill: place + target_object: heater_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.005 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.045 + retreat_height: 0.15 + retreat_xy: 0.15 + keep_gripper_closed_until_release: true + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + - skill: press + target_object: heat_button + params: + end_effector_euler: + - 0 + - 90 + - 10 + events_dt: + - 0.004 + - 0.02 + - 0.01 + - 0.02 + - 0.01 + - 0.02 + press_distance: 0.04 + gripper_gap: 0.0 + lock_target_position: true + initial_offset_z: 0.2 + press_z_tcp_offset: 0.025 + position_threshold: 0.01 + recreate_motion_controllers_on_reset: true +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d578d02fc3b4bcfa18bb4634e69e3b2e2ae120b0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_0_success.json @@ -0,0 +1,700 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.38194162170286466, + -0.08243794516237207, + 1.1655086582115697 + ], + "current_z": 1.1655086582115697, + "required_z": 0.8611067282563813, + "initial_z": 0.7611067282563814, + "lift_margin": 0.30440192995518833, + "gripper_z": 1.1551204758055322, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37747212763267524, + -0.0869944421698361, + 1.1551204758055322 + ], + "object_minus_gripper": [ + 0.004469494070189428, + 0.004556497007464022, + 0.01038818240603745 + ], + "object_to_gripper_xy": 0.00638263599326227, + "object_to_gripper_z": 0.01038818240603745, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.38194162170286466, + -0.10617847870011736, + 1.1655086582115697 + ], + "finger_b": [ + 0.3714791525602579, + -0.08243794516237207, + 1.1655086582115697 + ], + "finger_midpoint": [ + 0.37671038713156124, + -0.09430821193124472, + 1.1655086582115697 + ], + "object_minus_finger_midpoint": [ + 0.0052312345713034225, + 0.01187026676887265, + 0.0 + ], + "finger_gap": 0.025943712016918627, + "fingertip_max_gap": 0.09100325661611666, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01297185600845933, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1655086582115697, + "object_top_z": 1.2152958625697514, + "finger_top_clearance": 0.049787204358181736, + "fingertip_min_top_clearance": 0.014936161307454553, + "object_projection_between_fingers": 0.8373686936736753, + "object_to_finger_line_xy": 0.00957398075517115, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04800162830805833, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0353746107995925, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 365, + "max_stable_success_frames": 365, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3412223803041368, + -0.32594227483696714, + 0.8515395799083328 + ], + "target_position": [ + 0.33231437287246446, + -0.3281250592066844, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009171539892919396, + "xy_threshold": 0.08, + "gripper_dist": 0.18584599911115984, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395799083328, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07530789116435439, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08563515256605385, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15458560950211903, + "release_required_pad_clearance": 0.052817576283026926, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6806975250670513, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 159, + "max_placed_release_frames": 159 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008088827133178711, + "max_z_decrease": 0.008088827133178711, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502965616896564, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008088827133178711, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021206956824445948, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008088827133178711, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008088850543457286, + "max_button_displacement": 0.12, + "button_start": [ + 0.18801429867744443, + -0.3843865096569061, + 0.7768088579177856 + ], + "button_final": [ + 0.18801429867744443, + -0.3843865096569061, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1869315868638041, + -0.3832702027278985, + 0.8067442361297866 + ], + "closest_button": [ + 0.1880057156085968, + -0.3843880295753479, + 0.7717489004135132 + ], + "closest_ee_minus_button": [ + -0.0010741287447927073, + 0.0011178268474493769, + 0.034995335716273446 + ], + "button_min_z_position": [ + 0.1879950910806656, + -0.3843896389007568, + 0.7687200307846069 + ], + "min_active_finger_to_button": 0.14669392299606984, + "closest_active_finger": [ + 0.060083791613578796, + -0.44711834192276, + 0.8077420592308044 + ], + "closest_active_finger_button": [ + 0.1880241185426712, + -0.384391039609909, + 0.7728756666183472 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1279403269290924, + -0.06272730231285101, + 0.034866392612457275 + ], + "min_contact_pad_to_button": 0.021206956824445948, + "closest_contact_pad": [ + 0.1879950910806656, + -0.3844246757762483, + 0.78992695866611 + ], + "closest_contact_pad_button": [ + 0.1879950910806656, + -0.3843896389007568, + 0.7687200307846069 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -3.503687549150092e-05, + 0.021206927881503024 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 0, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7a4ff0ec110591bc078303f9ed8d5f799f2859e3da380b1d48dc7f1692e45351", + "visual_seed": 5176821798487996575, + "episode_index": 0, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_10_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_10_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e06597c26c3ce291db027c1406c85bfb082d18ed --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_10_success.json @@ -0,0 +1,700 @@ +{ + "episode": 10, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.38034629329388947, + -0.08688711099572723, + 1.1664068118786854 + ], + "current_z": 1.1664068118786854, + "required_z": 0.8611066868287003, + "initial_z": 0.7611066868287003, + "lift_margin": 0.30530012504998516, + "gripper_z": 1.1560756727650052, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3761975422090559, + -0.09118497867596975, + 1.1560756727650052 + ], + "object_minus_gripper": [ + 0.004148751084833591, + 0.004297867680242526, + 0.010331139113680221 + ], + "object_to_gripper_xy": 0.005973592065146495, + "object_to_gripper_z": 0.010331139113680221, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.38034629329388947, + -0.11060300345870516, + 1.1664068118786854 + ], + "finger_b": [ + 0.3705615950726524, + -0.08688711099572723, + 1.1664068118786854 + ], + "finger_midpoint": [ + 0.37545394418327094, + -0.09874505722721619, + 1.1664068118786854 + ], + "object_minus_finger_midpoint": [ + 0.004892349110618532, + 0.011857946231488961, + 0.0 + ], + "finger_gap": 0.02565509451544105, + "fingertip_max_gap": 0.093309439709123, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012827547257720518, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1664068118786854, + "object_top_z": 1.216244139773687, + "finger_top_clearance": 0.049837327895001504, + "fingertip_min_top_clearance": 0.014951198368500417, + "object_projection_between_fingers": 0.8545386434156943, + "object_to_finger_line_xy": 0.009045098261395369, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049154719854561504, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.2254013231282337, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 352, + "max_stable_success_frames": 352, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3339309496435021, + -0.3284787258086269, + 0.8515395838923805 + ], + "target_position": [ + 0.32797727962496065, + -0.32895078525757204, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005972355214906255, + "xy_threshold": 0.08, + "gripper_dist": 0.18492742039498733, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395838923805, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07590679560265773, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08979868886843499, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15195643451037905, + "release_required_pad_clearance": 0.0548993444342175, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 4.862637266712114, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00796133279800415, + "max_z_decrease": 0.00796133279800415, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035075551331122806, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00796133279800415, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021152735745406437, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00796133279800415, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007961357273184312, + "max_button_displacement": 0.12, + "button_start": [ + 0.1836772114038467, + -0.385212242603302, + 0.7768088579177856 + ], + "button_final": [ + 0.1836772114038467, + -0.385212242603302, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18258780722912266, + -0.38393626997836483, + 0.8063011013682743 + ], + "closest_button": [ + 0.18366162478923795, + -0.38521525263786316, + 0.7712653279304504 + ], + "closest_ee_minus_button": [ + -0.0010738175601152922, + 0.001278982659498329, + 0.035035773437823825 + ], + "button_min_z_position": [ + 0.1836578249931335, + -0.38521596789360046, + 0.7688475251197815 + ], + "min_active_finger_to_button": 0.1465038338163868, + "closest_active_finger": [ + 0.055972859263420105, + -0.4480956196784973, + 0.8109631538391113 + ], + "closest_active_finger_button": [ + 0.18368114531040186, + -0.38521403074264526, + 0.7763239741325378 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12770828604698176, + -0.06288158893585205, + 0.034639179706573486 + ], + "min_contact_pad_to_button": 0.021152735745406437, + "closest_contact_pad": [ + 0.1836578249931335, + -0.38521596789360046, + 0.7900002608651879 + ], + "closest_contact_pad_button": [ + 0.1836578249931335, + -0.38521596789360046, + 0.7688475251197815 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021152735745406437 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 10, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d0418eab7ed897850c86b5d97e2aa641a732f8740b2c66d3dce65876660f6e1b", + "visual_seed": 1355597745213097047, + "episode_index": 10, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_11_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_11_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8a8f876af6dac31be5d024fee7028b122d03076f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_11_success.json @@ -0,0 +1,700 @@ +{ + "episode": 11, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3784127428189947, + -0.09060094517331055, + 1.165321214544564 + ], + "current_z": 1.165321214544564, + "required_z": 0.8611066868287004, + "initial_z": 0.7611066868287004, + "lift_margin": 0.30421452771586355, + "gripper_z": 1.154937253484285, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3744165925336622, + -0.0949178209887697, + 1.154937253484285 + ], + "object_minus_gripper": [ + 0.003996150285332456, + 0.004316875815459156, + 0.010383961060278946 + ], + "object_to_gripper_xy": 0.005882570348840618, + "object_to_gripper_z": 0.010383961060278946, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3784127428189947, + -0.11386911900941622, + 1.165321214544564 + ], + "finger_b": [ + 0.36812847726407916, + -0.09060094517331055, + 1.165321214544564 + ], + "finger_midpoint": [ + 0.37327061004153694, + -0.10223503209136339, + 1.165321214544564 + ], + "object_minus_finger_midpoint": [ + 0.005142132777457731, + 0.011634086918052844, + 0.0 + ], + "finger_gap": 0.025439615399436653, + "fingertip_max_gap": 0.09230516833992228, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012719807699718321, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.165321214544564, + "object_top_z": 1.215092496684866, + "finger_top_clearance": 0.04977128214030202, + "fingertip_min_top_clearance": 0.014931384642090638, + "object_projection_between_fingers": 0.8365723702928984, + "object_to_finger_line_xy": 0.009406434608038429, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04865258416996114, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.2042586586666775, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 359, + "max_stable_success_frames": 359, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33825890492297894, + -0.32899710862793985, + 0.8515395849280071 + ], + "target_position": [ + 0.3306746176366432, + -0.3304717642944583, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007726320144575238, + "xy_threshold": 0.08, + "gripper_dist": 0.18475580334556188, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395849280071, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07538698163844756, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08644058098574435, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15323705840403304, + "release_required_pad_clearance": 0.05322029049287218, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4622982967818101, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008181750774383545, + "max_z_decrease": 0.008181750774383545, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501838588119341, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008181750774383545, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02115973384711265, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008181750774383545, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008181766241704117, + "max_button_displacement": 0.12, + "button_start": [ + 0.18637454509735105, + -0.38673323392868036, + 0.7768088579177856 + ], + "button_final": [ + 0.18637454509735105, + -0.38673323392868036, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18494542754709062, + -0.3869739029891838, + 0.803616092150827 + ], + "closest_button": [ + 0.1863591074943542, + -0.38672938942909235, + 0.7686271071434021 + ], + "closest_ee_minus_button": [ + -0.0014136799472635742, + -0.00024451356009147496, + 0.034988985007424867 + ], + "button_min_z_position": [ + 0.1863591074943542, + -0.38672938942909235, + 0.7686271071434021 + ], + "min_active_finger_to_button": 0.14721697355796687, + "closest_active_finger": [ + 0.058755598962306976, + -0.45141249895095825, + 0.807456374168396 + ], + "closest_active_finger_button": [ + 0.18638341128826139, + -0.3867404460906982, + 0.7727936506271362 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1276278123259544, + -0.06467205286026007, + 0.034662723541259766 + ], + "min_contact_pad_to_button": 0.02115973384711265, + "closest_contact_pad": [ + 0.1863591074943542, + -0.38801337026910643, + 0.789747848836892 + ], + "closest_contact_pad_button": [ + 0.1863591074943542, + -0.38672938942909235, + 0.7686271071434021 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0012839808400140762, + 0.021120741693489875 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 11, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "37093e58cd24d658680143cb5758d178caf41b2726aeca5d85174618e458f53d", + "visual_seed": 7291634451095171782, + "episode_index": 11, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_12_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c5e1f5ae0e0fc2c36db50a38b96393261a009069 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_12_success.json @@ -0,0 +1,700 @@ +{ + "episode": 12, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3829184387097897, + -0.08706821487437588, + 1.1664351107934694 + ], + "current_z": 1.1664351107934694, + "required_z": 0.8611066272240557, + "initial_z": 0.7611066272240558, + "lift_margin": 0.30532848356941367, + "gripper_z": 1.1560072463418933, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3789060258929846, + -0.09127614901784983, + 1.1560072463418933 + ], + "object_minus_gripper": [ + 0.004012412816805089, + 0.0042079341434739514, + 0.010427864451576063 + ], + "object_to_gripper_xy": 0.0058143070411077885, + "object_to_gripper_z": 0.010427864451576063, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3829184387097897, + -0.11049560665062756, + 1.1664351107934694 + ], + "finger_b": [ + 0.37299682789682576, + -0.08706821487437588, + 1.1664351107934694 + ], + "finger_midpoint": [ + 0.3779576333033077, + -0.09878191076250173, + 1.1664351107934694 + ], + "object_minus_finger_midpoint": [ + 0.004960805406481972, + 0.011713695888125847, + 0.0 + ], + "finger_gap": 0.025441718624375748, + "fingertip_max_gap": 0.09289225428129969, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01272085931218788, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1664351107934694, + "object_top_z": 1.2162308663443495, + "finger_top_clearance": 0.049795755550880116, + "fingertip_min_top_clearance": 0.014938726665264067, + "object_projection_between_fingers": 0.847920216964814, + "object_to_finger_line_xy": 0.00913607555364212, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048946127140649845, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.788896360372649, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 358, + "max_stable_success_frames": 358, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32976031121177435, + -0.3245611169256082, + 0.8515395124093126 + ], + "target_position": [ + 0.3227348563450223, + -0.3256458480359238, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0071087029524700565, + "xy_threshold": 0.08, + "gripper_dist": 0.18450361141139293, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395124093126, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.075434966029037, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08717538661638767, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15268369519746194, + "release_required_pad_clearance": 0.05358769330819384, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.18613846713318, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007528126239776611, + "max_z_decrease": 0.007528126239776611, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035087563822724606, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007528126239776611, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021147808892947303, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007528126239776611, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007528146159793401, + "max_button_displacement": 0.12, + "button_start": [ + 0.1784347891807555, + -0.3819073140621185, + 0.7768088579177856 + ], + "button_final": [ + 0.1784347891807555, + -0.3819073140621185, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1766669627349964, + -0.3819754789853846, + 0.8077677558529981 + ], + "closest_button": [ + 0.17842517793178547, + -0.3819110691547393, + 0.7727243304252625 + ], + "closest_ee_minus_button": [ + -0.0017582151967890647, + -6.440983064526229e-05, + 0.03504342542773564 + ], + "button_min_z_position": [ + 0.1784178763628005, + -0.38191103935241694, + 0.769280731678009 + ], + "min_active_finger_to_button": 0.1477788687048418, + "closest_active_finger": [ + 0.04944103956222534, + -0.4451982378959656, + 0.8111498951911926 + ], + "closest_active_finger_button": [ + 0.17843858897685994, + -0.38190951943397516, + 0.7766134738922119 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1289975494146346, + -0.06328871846199041, + 0.03453642129898071 + ], + "min_contact_pad_to_button": 0.021147808892947303, + "closest_contact_pad": [ + 0.1784178763628005, + -0.3832051521116502, + 0.7903889076565016 + ], + "closest_contact_pad_button": [ + 0.1784178763628005, + -0.38191103935241694, + 0.769280731678009 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0012941127592332458, + 0.02110817597849257 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 12, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "22da7ab69e59e0087e282e0048df19b7b76d9137b6982af8de445efd9f579966", + "visual_seed": 2885112076794351090, + "episode_index": 12, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_13_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_13_success.json new file mode 100644 index 0000000000000000000000000000000000000000..46858ee79f147243af5421d1afe7806d73ea6dee --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_13_success.json @@ -0,0 +1,700 @@ +{ + "episode": 13, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3805269106436189, + -0.08716560541498009, + 1.166105292798565 + ], + "current_z": 1.166105292798565, + "required_z": 0.8611066868287002, + "initial_z": 0.7611066868287002, + "lift_margin": 0.3049986059698647, + "gripper_z": 1.1556951520995447, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37633816109159923, + -0.09163946767712927, + 1.1556951520995447 + ], + "object_minus_gripper": [ + 0.004188749552019644, + 0.004473862262149186, + 0.010410140699020243 + ], + "object_to_gripper_xy": 0.006128708375361599, + "object_to_gripper_z": 0.010410140699020243, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3805269106436189, + -0.11057469741892159, + 1.166105292798565 + ], + "finger_b": [ + 0.37000915844195004, + -0.08716560541498009, + 1.166105292798565 + ], + "finger_midpoint": [ + 0.37526803454278446, + -0.09887015141695084, + 1.166105292798565 + ], + "object_minus_finger_midpoint": [ + 0.00525887610083442, + 0.011704546001970753, + 0.0 + ], + "finger_gap": 0.025663372728944027, + "fingertip_max_gap": 0.09183748531745492, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012831686364472013, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.166105292798565, + "object_top_z": 1.2159266477723931, + "finger_top_clearance": 0.049821354973828225, + "fingertip_min_top_clearance": 0.0149464064921485, + "object_projection_between_fingers": 0.8320351501503811, + "object_to_finger_line_xy": 0.009593868723491605, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04841874265872746, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7652238904041693, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 366, + "max_stable_success_frames": 366, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3374901566996148, + -0.32601909786797423, + 0.8515396571861873 + ], + "target_position": [ + 0.3288263595913098, + -0.32814652925883275, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008921173950589934, + "xy_threshold": 0.08, + "gripper_dist": 0.18706528578237006, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396571861873, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07517457448979886, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08500701184244601, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1561433108047371, + "release_required_pad_clearance": 0.052503505921223007, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.07912932600825645, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 160, + "max_placed_release_frames": 160 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008074820041656494, + "max_z_decrease": 0.008074820041656494, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035015482081668575, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008074820041656494, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02114778234648928, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008074820041656494, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008074822880040505, + "max_button_displacement": 0.12, + "button_start": [ + 0.18452627956867212, + -0.38440799713134766, + 0.7768088579177856 + ], + "button_final": [ + 0.18452627956867212, + -0.38440799713134766, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1847334694044797, + -0.3846585083635516, + 0.8037479601848517 + ], + "closest_button": [ + 0.18452601134777066, + -0.38440123200416565, + 0.7687340378761292 + ], + "closest_ee_minus_button": [ + 0.00020745805670904782, + -0.0002572763593859384, + 0.03501392230872258 + ], + "button_min_z_position": [ + 0.18452601134777066, + -0.38440123200416565, + 0.7687340378761292 + ], + "min_active_finger_to_button": 0.145626831422217, + "closest_active_finger": [ + 0.04374193400144577, + -0.37089991569519043, + 0.8075354695320129 + ], + "closest_active_finger_button": [ + 0.18453595042228693, + -0.3844149708747864, + 0.7728719115257263 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14079401642084116, + 0.013515055179595947, + 0.03466355800628662 + ], + "min_contact_pad_to_button": 0.02114778234648928, + "closest_contact_pad": [ + 0.18452601134777066, + -0.38563432750877913, + 0.789845839638437 + ], + "closest_contact_pad_button": [ + 0.18452601134777066, + -0.38440123200416565, + 0.7687340378761292 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0012330955046134795, + 0.02111180176230787 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 13, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a4f258281109c638c9115b700ee2eebef23df9cf5799ed460a3eb4ae307de7ea", + "visual_seed": 6949809956381098558, + "episode_index": 13, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_14_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_14_success.json new file mode 100644 index 0000000000000000000000000000000000000000..34560409b36a99a40946ccc63a4009f672ad136c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_14_success.json @@ -0,0 +1,700 @@ +{ + "episode": 14, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3841180736146054, + -0.08437878280252803, + 1.1662129110977708 + ], + "current_z": 1.1662129110977708, + "required_z": 0.8611066272240556, + "initial_z": 0.7611066272240556, + "lift_margin": 0.3051062838737152, + "gripper_z": 1.1557948557484783, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3799980045031953, + -0.08884297977402064, + 1.1557948557484783 + ], + "object_minus_gripper": [ + 0.004120069111410107, + 0.004464196971492612, + 0.010418055349292521 + ], + "object_to_gripper_xy": 0.006074868235861538, + "object_to_gripper_z": 0.010418055349292521, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3841180736146054, + -0.10781054072566282, + 1.1662129110977708 + ], + "finger_b": [ + 0.3737130629776336, + -0.08437878280252803, + 1.1662129110977708 + ], + "finger_midpoint": [ + 0.3789155682961195, + -0.09609466176409542, + 1.1662129110977708 + ], + "object_minus_finger_midpoint": [ + 0.005202505318485928, + 0.011715878961567394, + 0.0 + ], + "finger_gap": 0.025638087403780457, + "fingertip_max_gap": 0.09189193950758748, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01281904370189024, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1662129110977708, + "object_top_z": 1.2160101312472624, + "finger_top_clearance": 0.04979722014949162, + "fingertip_min_top_clearance": 0.014939166044847484, + "object_projection_between_fingers": 0.8352923353408923, + "object_to_finger_line_xy": 0.00950958964268196, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04844596975379374, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8803132772382027, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 360, + "max_stable_success_frames": 360, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.335092796244112, + -0.33216236154433343, + 0.8515395711108459 + ], + "target_position": [ + 0.3267956169347604, + -0.33397293148159535, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008492428862772341, + "xy_threshold": 0.08, + "gripper_dist": 0.18474256265172911, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395711108459, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07516184237763877, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08522013340802452, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1539784637903812, + "release_required_pad_clearance": 0.05261006670401226, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.2825484153197993, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008098065853118896, + "max_z_decrease": 0.008098065853118896, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500657308283394, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008098065853118896, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021209229719292597, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008098065853118896, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008098096365013177, + "max_button_displacement": 0.12, + "button_start": [ + 0.18249554932117462, + -0.3902343809604645, + 0.7768088579177856 + ], + "button_final": [ + 0.18249554932117462, + -0.3902343809604645, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18218173677908586, + -0.3894514892334867, + 0.8037073543837694 + ], + "closest_button": [ + 0.18247339129447937, + -0.39023616909980774, + 0.7687107920646667 + ], + "closest_ee_minus_button": [ + -0.00029165451539350795, + 0.0007846798663210253, + 0.03499656231910264 + ], + "button_min_z_position": [ + 0.18247339129447937, + -0.39023616909980774, + 0.7687107920646667 + ], + "min_active_finger_to_button": 0.14585774111891192, + "closest_active_finger": [ + 0.05503518134355545, + -0.4519805610179901, + 0.8076441287994385 + ], + "closest_active_finger_button": [ + 0.18250766396522522, + -0.3902408182621002, + 0.7728095054626465 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12747248262166977, + -0.06173974275588989, + 0.03483462333679199 + ], + "min_contact_pad_to_button": 0.021209229719292597, + "closest_contact_pad": [ + 0.18247339129447937, + -0.3906839558444065, + 0.7899152942355994 + ], + "closest_contact_pad_button": [ + 0.18247339129447937, + -0.39023616909980774, + 0.7687107920646667 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0004477867445987771, + 0.021204502170932615 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 14, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "948965f24189496c009c18859864846991aa3b9b89991053775fdd1674c1f00b", + "visual_seed": 5933967993645156174, + "episode_index": 14, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_15_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_15_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9e9229ade5a12a82fae97910dc831a8c98c064d5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_15_success.json @@ -0,0 +1,700 @@ +{ + "episode": 15, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.38345493427930255, + -0.09085880252846355, + 1.1662674134469824 + ], + "current_z": 1.1662674134469824, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.3051609054322164, + "gripper_z": 1.155858884225694, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37931262582544223, + -0.09515272610229156, + 1.155858884225694 + ], + "object_minus_gripper": [ + 0.004142308453860322, + 0.004293923573828004, + 0.01040852922128832 + ], + "object_to_gripper_xy": 0.0059662801631165914, + "object_to_gripper_z": 0.01040852922128832, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.38345493427930255, + -0.11446533937830654, + 1.1662674134469824 + ], + "finger_b": [ + 0.3735161200419206, + -0.09085880252846355, + 1.1662674134469824 + ], + "finger_midpoint": [ + 0.37848552716061157, + -0.10266207095338505, + 1.1662674134469824 + ], + "object_minus_finger_midpoint": [ + 0.004969407118690983, + 0.011803268424921493, + 0.0 + ], + "finger_gap": 0.025613445892503046, + "fingertip_max_gap": 0.09239663487905417, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012806722946251523, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1662674134469824, + "object_top_z": 1.2161385094790516, + "finger_top_clearance": 0.049871096032069184, + "fingertip_min_top_clearance": 0.014961328809620755, + "object_projection_between_fingers": 0.8494318456498492, + "object_to_finger_line_xy": 0.00916007106279962, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048698317439527086, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.221363191235513, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 362, + "max_stable_success_frames": 362, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.339265211033283, + -0.3319545052943024, + 0.8515395605314185 + ], + "target_position": [ + 0.33265755297382565, + -0.33306654352569715, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00670058012852582, + "xy_threshold": 0.08, + "gripper_dist": 0.1817347629280479, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395605314185, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07547029090564762, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08780709306818806, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15004633796215533, + "release_required_pad_clearance": 0.05390354653409403, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.816954023715407, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007834851741790771, + "max_z_decrease": 0.007834851741790771, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035041880841310956, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007834851741790771, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021226166851321726, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 119, + "max_z_decrease_with_contact_point": 0.007834851741790771, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00783487152092976, + "max_button_displacement": 0.12, + "button_start": [ + 0.18835747241973871, + -0.3893280029296875, + 0.7768088579177856 + ], + "button_final": [ + 0.18835747241973871, + -0.3893280029296875, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18699605595008933, + -0.3879314450088519, + 0.8047084212174955 + ], + "closest_button": [ + 0.18834142386913297, + -0.38932698965072626, + 0.769720196723938 + ], + "closest_ee_minus_button": [ + -0.001345367919043633, + 0.0013955446418743578, + 0.03498822449355754 + ], + "button_min_z_position": [ + 0.18833990395069117, + -0.38932687044143677, + 0.7689740061759949 + ], + "min_active_finger_to_button": 0.14665180209830428, + "closest_active_finger": [ + 0.05965612083673477, + -0.45019271969795227, + 0.808347761631012 + ], + "closest_active_finger_button": [ + 0.1883696466684341, + -0.38933512568473816, + 0.7731919288635254 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12871352583169932, + -0.06085759401321411, + 0.03515583276748657 + ], + "min_contact_pad_to_button": 0.021226166851321726, + "closest_contact_pad": [ + 0.18833990395069117, + -0.38932687044143677, + 0.7902001730273166 + ], + "closest_contact_pad_button": [ + 0.18833990395069117, + -0.38932687044143677, + 0.7689740061759949 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021226166851321726 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 15, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4d79d7b1fb3acfcfc932c1577088e8c8f73358d9ba98dd8b126d0162c0080e7b", + "visual_seed": 162632275006380988, + "episode_index": 15, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_16_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_16_success.json new file mode 100644 index 0000000000000000000000000000000000000000..94512538750ed1f6d01d08f2897a1221a2402559 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_16_success.json @@ -0,0 +1,700 @@ +{ + "episode": 16, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.38335480848594716, + -0.08225843407450667, + 1.1636436897971936 + ], + "current_z": 1.1636436897971936, + "required_z": 0.8611066868287004, + "initial_z": 0.7611066868287004, + "lift_margin": 0.3025370029684932, + "gripper_z": 1.1533093401099668, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3790397083987229, + -0.08660129974626375, + 1.1533093401099668 + ], + "object_minus_gripper": [ + 0.004315100087224244, + 0.004342865671757082, + 0.010334349687226796 + ], + "object_to_gripper_xy": 0.0061221377806848455, + "object_to_gripper_z": 0.010334349687226796, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.38335480848594716, + -0.10596346521500302, + 1.1636436897971936 + ], + "finger_b": [ + 0.3733243386791506, + -0.08225843407450667, + 1.1636436897971936 + ], + "finger_midpoint": [ + 0.3783395735825489, + -0.09411094964475485, + 1.1636436897971936 + ], + "object_minus_finger_midpoint": [ + 0.00501523490339828, + 0.011852515570248176, + 0.0 + ], + "finger_gap": 0.02573982956270222, + "fingertip_max_gap": 0.09275674509130852, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01286991478135111, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1636436897971936, + "object_top_z": 1.2135240010858324, + "finger_top_clearance": 0.04988031128863879, + "fingertip_min_top_clearance": 0.014964093386591637, + "object_projection_between_fingers": 0.8481442587069339, + "object_to_finger_line_xy": 0.00923753587974261, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04887837254565426, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.5254423814318843, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 356, + "max_stable_success_frames": 356, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3326729066345573, + -0.3279692680654012, + 0.8515395975520277 + ], + "target_position": [ + 0.3254544410948593, + -0.3292552452796775, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007332119894235547, + "xy_threshold": 0.08, + "gripper_dist": 0.18266836504519604, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395975520277, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07565765846659181, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08789503885413473, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15055111307648758, + "release_required_pad_clearance": 0.05394751942706737, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.9053218586892116, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0078026652336120605, + "max_z_decrease": 0.0078026652336120605, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350647682978993, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0078026652336120605, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.0212940611589075, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0078026652336120605, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007802691267202981, + "max_button_displacement": 0.12, + "button_start": [ + 0.1811543703079223, + -0.3855167031288146, + 0.7768088579177856 + ], + "button_final": [ + 0.1811543703079223, + -0.3855167031288146, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17893034019508303, + -0.3854515810881094, + 0.8078697448939554 + ], + "closest_button": [ + 0.1811546087265014, + -0.3855229318141936, + 0.7728756666183472 + ], + "closest_ee_minus_button": [ + -0.002224268531418383, + 7.135072608421833e-05, + 0.03499407827560819 + ], + "button_min_z_position": [ + 0.18113428354263297, + -0.3855183720588683, + 0.7690061926841736 + ], + "min_active_finger_to_button": 0.14827992775381862, + "closest_active_finger": [ + 0.050627171993255615, + -0.44656500220298767, + 0.8079718947410583 + ], + "closest_active_finger_button": [ + 0.18116469681262962, + -0.3855238258838653, + 0.7730309963226318 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.130537524819374, + -0.06104117631912237, + 0.034940898418426514 + ], + "min_contact_pad_to_button": 0.0212940611589075, + "closest_contact_pad": [ + 0.18113428354263297, + -0.3869728203293924, + 0.7902505241838387 + ], + "closest_contact_pad_button": [ + 0.18113428354263297, + -0.3855183720588683, + 0.7690061926841736 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0014544482705241002, + 0.021244331499665092 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 16, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "97d3852144a09291d817386031aadb37ebe9b9892f9e32b01300e372c4a9d55a", + "visual_seed": 3381642322528719186, + "episode_index": 16, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_17_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_17_success.json new file mode 100644 index 0000000000000000000000000000000000000000..504faa998cc48798cda19d02f3b99f5b36aa8e91 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_17_success.json @@ -0,0 +1,700 @@ +{ + "episode": 17, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.38181085671165443, + -0.08514653424231691, + 1.1653574939918432 + ], + "current_z": 1.1653574939918432, + "required_z": 0.8611066868287005, + "initial_z": 0.7611066868287005, + "lift_margin": 0.3042508071631427, + "gripper_z": 1.1549361914189287, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37757304625469534, + -0.08957347415071162, + 1.1549361914189287 + ], + "object_minus_gripper": [ + 0.00423781045695909, + 0.004426939908394711, + 0.010421302572914515 + ], + "object_to_gripper_xy": 0.006128363111112917, + "object_to_gripper_z": 0.010421302572914515, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.38181085671165443, + -0.1087024732837431, + 1.1653574939918432 + ], + "finger_b": [ + 0.3715123820953433, + -0.08514653424231691, + 1.1653574939918432 + ], + "finger_midpoint": [ + 0.37666161940349885, + -0.09692450376303001, + 1.1653574939918432 + ], + "object_minus_finger_midpoint": [ + 0.005149237308155585, + 0.011777969520713097, + 0.0 + ], + "finger_gap": 0.025708769778933244, + "fingertip_max_gap": 0.091904952752727, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012854384889466632, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1653574939918432, + "object_top_z": 1.2151747501945565, + "finger_top_clearance": 0.04981725620271327, + "fingertip_min_top_clearance": 0.01494517686081398, + "object_projection_between_fingers": 0.8395339303684715, + "object_to_finger_line_xy": 0.00943608902205378, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048452476376363504, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8456966782443558, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 364, + "max_stable_success_frames": 364, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3384097531991642, + -0.32856937812032105, + 0.8515395374804403 + ], + "target_position": [ + 0.3304526815633333, + -0.330539308736677, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008197293190499012, + "xy_threshold": 0.08, + "gripper_dist": 0.1832263281901541, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395374804403, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07581372473865465, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08740248055519538, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15079702203010276, + "release_required_pad_clearance": 0.05370124027759769, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.411868062501747, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0077950358390808105, + "max_z_decrease": 0.0077950358390808105, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035025715261329936, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0077950358390808105, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021421901092489242, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 119, + "max_z_decrease_with_contact_point": 0.0077950358390808105, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00779505857655278, + "max_button_displacement": 0.12, + "button_start": [ + 0.1861526072025299, + -0.38680076599121094, + 0.7768088579177856 + ], + "button_final": [ + 0.1861526072025299, + -0.38680076599121094, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18590099750629768, + -0.3883015242473734, + 0.8067095681524693 + ], + "closest_button": [ + 0.18613944947719574, + -0.38680073618888855, + 0.771716833114624 + ], + "closest_ee_minus_button": [ + -0.00023845197089805703, + -0.0015007880584848587, + 0.03499273503784528 + ], + "button_min_z_position": [ + 0.18613387644290924, + -0.38680267333984375, + 0.7690138220787048 + ], + "min_active_finger_to_button": 0.14632386577231918, + "closest_active_finger": [ + 0.04486802965402603, + -0.37202903628349304, + 0.8082833886146545 + ], + "closest_active_finger_button": [ + 0.1861630529165268, + -0.38680708408355713, + 0.7732405662536621 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14129502326250076, + 0.014778047800064087, + 0.03504282236099243 + ], + "min_contact_pad_to_button": 0.021421901092489242, + "closest_contact_pad": [ + 0.18613387644290924, + -0.3895416179934061, + 0.7902599047435425 + ], + "closest_contact_pad_button": [ + 0.18613387644290924, + -0.38680267333984375, + 0.7690138220787048 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0027389446535623363, + 0.02124608266483763 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 17, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5df6436acaad53a3cfe08f25660428b86853d1711120ac8417da73592538d378", + "visual_seed": 5915758039694511747, + "episode_index": 17, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_18_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e82cfe95451f40c38768a274ca2f15bb9f4547b2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_18_success.json @@ -0,0 +1,700 @@ +{ + "episode": 18, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3867574616446658, + -0.08877098408645191, + 1.1661252978744403 + ], + "current_z": 1.1661252978744403, + "required_z": 0.8611065676194107, + "initial_z": 0.7611065676194108, + "lift_margin": 0.30501873025502957, + "gripper_z": 1.15558433719421, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.38247709478971303, + -0.09318214722645922, + 1.15558433719421 + ], + "object_minus_gripper": [ + 0.004280366854952755, + 0.004411163140007307, + 0.010540960680230249 + ], + "object_to_gripper_xy": 0.006146535663342178, + "object_to_gripper_z": 0.010540960680230249, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3867574616446658, + -0.112363306488938, + 1.1661252978744403 + ], + "finger_b": [ + 0.3764951309908573, + -0.08877098408645191, + 1.1661252978744403 + ], + "finger_midpoint": [ + 0.38162629631776157, + -0.10056714528769495, + 1.1661252978744403 + ], + "object_minus_finger_midpoint": [ + 0.005131165326904219, + 0.011796161201243036, + 0.0 + ], + "finger_gap": 0.025727672004885016, + "fingertip_max_gap": 0.09169252160597427, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012863836002442492, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1661252978744403, + "object_top_z": 1.2159547537507134, + "finger_top_clearance": 0.04982945587627308, + "fingertip_min_top_clearance": 0.01494883676288189, + "object_projection_between_fingers": 0.8408923628077366, + "object_to_finger_line_xy": 0.009410576026451012, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04834626080298714, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5806814436015117, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 365, + "max_stable_success_frames": 365, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33817639288750523, + -0.32637795725349916, + 0.8515395073214775 + ], + "target_position": [ + 0.3297083735813546, + -0.3284912295250896, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008727729983404226, + "xy_threshold": 0.08, + "gripper_dist": 0.18731946724979928, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395073214775, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07550074089108585, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08508994426536891, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15555946116414435, + "release_required_pad_clearance": 0.052544972132684456, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.1582587398885894, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008108794689178467, + "max_z_decrease": 0.008108794689178467, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503041790219259, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008108794689178467, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021399508178017137, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008108794689178467, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008108852343511243, + "max_button_displacement": 0.12, + "button_start": [ + 0.18540829420089724, + -0.3847526907920837, + 0.7768088579177856 + ], + "button_final": [ + 0.18540829420089724, + -0.3847526907920837, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1862254841247335, + -0.3862017270618966, + 0.8036901427705605 + ], + "closest_button": [ + 0.18537779152393347, + -0.38475054502487177, + 0.7687000632286072 + ], + "closest_ee_minus_button": [ + 0.0008476926008000318, + -0.001451182037024823, + 0.03499007954195332 + ], + "button_min_z_position": [ + 0.18537779152393347, + -0.38475054502487177, + 0.7687000632286072 + ], + "min_active_finger_to_button": 0.14507338925682356, + "closest_active_finger": [ + 0.04572086036205292, + -0.368186354637146, + 0.8082528114318848 + ], + "closest_active_finger_button": [ + 0.18542282283306125, + -0.3847597241401672, + 0.7728272080421448 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13970196247100833, + 0.016573369503021185, + 0.03542560338973999 + ], + "min_contact_pad_to_button": 0.021399508178017137, + "closest_contact_pad": [ + 0.18537779152393347, + -0.3875645113645243, + 0.7899137508783376 + ], + "closest_contact_pad_button": [ + 0.18537779152393347, + -0.38475054502487177, + 0.7687000632286072 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0028139663396525294, + 0.021213687649730417 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 18, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1cf8153443e9edf9e3e79991971ebd8bc7744baa62c2890f0815fa77545078d8", + "visual_seed": 2927881259176182584, + "episode_index": 18, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_19_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_19_success.json new file mode 100644 index 0000000000000000000000000000000000000000..dbeafa14fca4af777471c6b0a9981f2d57d1705f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_19_success.json @@ -0,0 +1,700 @@ +{ + "episode": 19, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3828596196832548, + -0.09197848633315596, + 1.1650767716722226 + ], + "current_z": 1.1650767716722226, + "required_z": 0.8611066868287002, + "initial_z": 0.7611066868287002, + "lift_margin": 0.3039700848435224, + "gripper_z": 1.1545620786601187, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37867287137048244, + -0.09647119455483806, + 1.1545620786601187 + ], + "object_minus_gripper": [ + 0.0041867483127723815, + 0.004492708221682101, + 0.010514693012103837 + ], + "object_to_gripper_xy": 0.006141114605645487, + "object_to_gripper_z": 0.010514693012103837, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3828596196832548, + -0.11539536299549556, + 1.1650767716722226 + ], + "finger_b": [ + 0.3723282148104493, + -0.09197848633315596, + 1.1650767716722226 + ], + "finger_midpoint": [ + 0.3775939172468521, + -0.10368692466432576, + 1.1650767716722226 + ], + "object_minus_finger_midpoint": [ + 0.0052657024364027305, + 0.011708438331169801, + 0.0 + ], + "finger_gap": 0.025676070595287297, + "fingertip_max_gap": 0.0913795461925869, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012838035297643637, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1650767716722226, + "object_top_z": 1.214873548037552, + "finger_top_clearance": 0.04979677636532953, + "fingertip_min_top_clearance": 0.014939032909598892, + "object_projection_between_fingers": 0.8317653316599154, + "object_to_finger_line_xy": 0.009604764407872945, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04818977309629345, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3186958471814947, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 363, + "max_stable_success_frames": 363, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33716641575062745, + -0.33174825701153965, + 0.8515395730709835 + ], + "target_position": [ + 0.3278440981899084, + -0.3342002664623716, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009639395989887544, + "xy_threshold": 0.08, + "gripper_dist": 0.18554668849804984, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395730709835, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07587492924993403, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08645089180303105, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1530300171786692, + "release_required_pad_clearance": 0.053225445901515525, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.472433034246912, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007845401763916016, + "max_z_decrease": 0.007845401763916016, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035046184103074016, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007845401763916016, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02125627219030324, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 119, + "max_z_decrease_with_contact_point": 0.007845401763916016, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007845422286835622, + "max_button_displacement": 0.12, + "button_start": [ + 0.18354402482509613, + -0.39046171307563776, + 0.7768088579177856 + ], + "button_final": [ + 0.18354402482509613, + -0.39046171307563776, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18317528818462805, + -0.39146034287224307, + 0.8076413644199886 + ], + "closest_button": [ + 0.18353296816349032, + -0.3904650807380675, + 0.772611141204834 + ], + "closest_ee_minus_button": [ + -0.00035767997886226865, + -0.0009952621341755563, + 0.03503022321515459 + ], + "button_min_z_position": [ + 0.18352638185024261, + -0.39046499133110035, + 0.7689634561538696 + ], + "min_active_finger_to_button": 0.14651310034064818, + "closest_active_finger": [ + 0.0419287234544754, + -0.37624454498291016, + 0.8079487085342407 + ], + "closest_active_finger_button": [ + 0.1835535764694214, + -0.39046874642372126, + 0.7732188701629639 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14162485301494598, + 0.014224201440811102, + 0.034729838371276855 + ], + "min_contact_pad_to_button": 0.02125627219030324, + "closest_contact_pad": [ + 0.18352638185024261, + -0.3926175742681846, + 0.7901104534378159 + ], + "closest_contact_pad_button": [ + 0.18352638185024261, + -0.39046499133110035, + 0.7689634561538696 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0021525829370842575, + 0.02114699728394631 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 19, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "79f94f4125fa0273f1fda5d544320392b43e75195d4959df2e9ef80419b04a10", + "visual_seed": 3114042314033525935, + "episode_index": 19, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_1_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_1_success.json new file mode 100644 index 0000000000000000000000000000000000000000..394e6310907911d5dc35041d518426d67f87e18a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_1_success.json @@ -0,0 +1,700 @@ +{ + "episode": 1, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3825048478797464, + -0.08304654288198056, + 1.1638310971970003 + ], + "current_z": 1.1638310971970003, + "required_z": 0.8611067464333452, + "initial_z": 0.7611067464333452, + "lift_margin": 0.3027243507636551, + "gripper_z": 1.1533033971718525, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3785490585347659, + -0.08719158783603782, + 1.1533033971718525 + ], + "object_minus_gripper": [ + 0.0039557893449805315, + 0.004145044954057264, + 0.010527700025147801 + ], + "object_to_gripper_xy": 0.005729717882497976, + "object_to_gripper_z": 0.010527700025147801, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3825048478797464, + -0.10662724693719852, + 1.1638310971970003 + ], + "finger_b": [ + 0.372936776734169, + -0.08304654288198056, + 1.1638310971970003 + ], + "finger_midpoint": [ + 0.3777208123069577, + -0.09483689490958955, + 1.1638310971970003 + ], + "object_minus_finger_midpoint": [ + 0.004784035572788725, + 0.011790352027608988, + 0.0 + ], + "finger_gap": 0.025447938800354827, + "fingertip_max_gap": 0.09223552345702554, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012723969400177419, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1638310971970003, + "object_top_z": 1.2135857393128204, + "finger_top_clearance": 0.04975464211582015, + "fingertip_min_top_clearance": 0.014926392634746044, + "object_projection_between_fingers": 0.85863445606427, + "object_to_finger_line_xy": 0.008866016844554282, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04861776172851277, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.188338443264915, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 351, + "max_stable_success_frames": 351, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.336237267036236, + -0.3328649839878628, + 0.8515395572583992 + ], + "target_position": [ + 0.32974544383529864, + -0.33373254800288565, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006549537067029357, + "xy_threshold": 0.08, + "gripper_dist": 0.1842884549143304, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395572583992, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0755183772333551, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08798469054948925, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15235003014558102, + "release_required_pad_clearance": 0.05399234527474463, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.995787584541996, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007957220077514648, + "max_z_decrease": 0.007957220077514648, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03511674146721168, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007957220077514648, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021162287003406832, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 119, + "max_z_decrease_with_contact_point": 0.007957220077514648, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007957239967582075, + "max_button_displacement": 0.12, + "button_start": [ + 0.18544536828994743, + -0.3899939954280852, + 0.7768088579177856 + ], + "button_final": [ + 0.18544536828994743, + -0.3899939954280852, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18619610577414875, + -0.3881007296426014, + 0.8075905882703637 + ], + "closest_button": [ + 0.18543468415737147, + -0.389997124671936, + 0.7725333571434021 + ], + "closest_ee_minus_button": [ + 0.0007614216167772803, + 0.0018963950293345855, + 0.035057231126961574 + ], + "button_min_z_position": [ + 0.18542790412902826, + -0.38999739289283747, + 0.768851637840271 + ], + "min_active_finger_to_button": 0.14473751470763505, + "closest_active_finger": [ + 0.06001249700784683, + -0.45337721705436707, + 0.8111843466758728 + ], + "closest_active_finger_button": [ + 0.18545006215572352, + -0.38999596238136286, + 0.7765840291976929 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12543756514787668, + -0.0633812546730042, + 0.03460031747817993 + ], + "min_contact_pad_to_button": 0.021162287003406832, + "closest_contact_pad": [ + 0.18542790412902826, + -0.38999739289283747, + 0.7900139248436778 + ], + "closest_contact_pad_button": [ + 0.18542790412902826, + -0.38999739289283747, + 0.768851637840271 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021162287003406832 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 1, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "11084bba93a5b05f2f7ed5014b55e11aec4eafe35ff60b46f5856da9bb29355e", + "visual_seed": 6081007217525335337, + "episode_index": 1, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_20_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_20_success.json new file mode 100644 index 0000000000000000000000000000000000000000..43ea1149f8226868ccaab428d2b2f4d236d3547e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_20_success.json @@ -0,0 +1,700 @@ +{ + "episode": 20, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.37753714684770934, + -0.09073016178800955, + 1.1661186230271814 + ], + "current_z": 1.1661186230271814, + "required_z": 0.8611066868287005, + "initial_z": 0.7611066868287005, + "lift_margin": 0.3050119361984809, + "gripper_z": 1.155710377160423, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3734774020199258, + -0.09491152263978665, + 1.155710377160423 + ], + "object_minus_gripper": [ + 0.00405974482778354, + 0.004181360851777102, + 0.010408245866758481 + ], + "object_to_gripper_xy": 0.005827976204437466, + "object_to_gripper_z": 0.010408245866758481, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.37753714684770934, + -0.11432490436071419, + 1.1661186230271814 + ], + "finger_b": [ + 0.3678380922036629, + -0.09073016178800955, + 1.1661186230271814 + ], + "finger_midpoint": [ + 0.37268761952568613, + -0.10252753307436187, + 1.1661186230271814 + ], + "object_minus_finger_midpoint": [ + 0.004849527322023206, + 0.011797371286352318, + 0.0 + ], + "finger_gap": 0.025510459385522613, + "fingertip_max_gap": 0.09274191149468711, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012755229692761307, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1661186230271814, + "object_top_z": 1.2159778202250027, + "finger_top_clearance": 0.04985919719782128, + "fingertip_min_top_clearance": 0.014957759159346417, + "object_projection_between_fingers": 0.855448616188771, + "object_to_finger_line_xy": 0.008970700764986739, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048870955747343556, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.4976388966024037, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 356, + "max_stable_success_frames": 356, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3328382580352557, + -0.3274138333764203, + 0.8515395746496291 + ], + "target_position": [ + 0.3257604964377848, + -0.3284427523974289, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007152159365004854, + "xy_threshold": 0.08, + "gripper_dist": 0.18356761945411854, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395746496291, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07551850612500431, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08840991147660864, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1515785240132234, + "release_required_pad_clearance": 0.05420495573830432, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.42675805949288, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007757902145385742, + "max_z_decrease": 0.007757902145385742, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499387236076217, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007757902145385742, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021264703025170608, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007757902145385742, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007757927845598767, + "max_button_displacement": 0.12, + "button_start": [ + 0.1814604252576828, + -0.3847042024135589, + 0.7768088579177856 + ], + "button_final": [ + 0.1814604252576828, + -0.3847042024135589, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18151357751725664, + -0.3843810663865532, + 0.8041860719688844 + ], + "closest_button": [ + 0.18144099414348602, + -0.3847043812274933, + 0.7691937685012817 + ], + "closest_ee_minus_button": [ + 7.258337377061275e-05, + 0.0003233148409400588, + 0.034992303467602626 + ], + "button_min_z_position": [ + 0.18144045770168304, + -0.384704440832138, + 0.7690509557723999 + ], + "min_active_finger_to_button": 0.1457829055158634, + "closest_active_finger": [ + 0.0536021888256073, + -0.4452548921108246, + 0.8082479238510132 + ], + "closest_active_finger_button": [ + 0.18147337436676025, + -0.38471111655235285, + 0.7730901837348938 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12787118554115295, + -0.060543775558471735, + 0.035157740116119385 + ], + "min_contact_pad_to_button": 0.021264703025170608, + "closest_contact_pad": [ + 0.18144045770168304, + -0.385779426236788, + 0.7902884697777747 + ], + "closest_contact_pad_button": [ + 0.18144045770168304, + -0.384704440832138, + 0.7690509557723999 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0010749854046500085, + 0.02123751400537477 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 20, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6fa060922a0d544062dc81b692ff360900bef0df04c028e37d7af11b1be9d517", + "visual_seed": 2915025896567862219, + "episode_index": 20, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_21_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_21_success.json new file mode 100644 index 0000000000000000000000000000000000000000..41a0b1dfd13fdb21cf5900ad53dfb2e9bb1226d0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_21_success.json @@ -0,0 +1,700 @@ +{ + "episode": 21, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.38138462407291696, + -0.0862623673570334, + 1.1652537938680299 + ], + "current_z": 1.1652537938680299, + "required_z": 0.8611066272240555, + "initial_z": 0.7611066272240555, + "lift_margin": 0.30414716664397434, + "gripper_z": 1.1549055570078137, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3770747003950495, + -0.09065299421007979, + 1.1549055570078137 + ], + "object_minus_gripper": [ + 0.004309923677867478, + 0.004390626853046392, + 0.010348236860216131 + ], + "object_to_gripper_xy": 0.006152482935509435, + "object_to_gripper_z": 0.010348236860216131, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.38138462407291696, + -0.10987458570414059, + 1.1652537938680299 + ], + "finger_b": [ + 0.3711570732655701, + -0.0862623673570334, + 1.1652537938680299 + ], + "finger_midpoint": [ + 0.37627084866924354, + -0.09806847653058699, + 1.1652537938680299 + ], + "object_minus_finger_midpoint": [ + 0.005113775403673415, + 0.011806109173553597, + 0.0 + ], + "finger_gap": 0.0257320743584408, + "fingertip_max_gap": 0.0922277765172971, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.0128660371792204, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1652537938680299, + "object_top_z": 1.215071581150459, + "finger_top_clearance": 0.04981778728242925, + "fingertip_min_top_clearance": 0.014945336184728774, + "object_projection_between_fingers": 0.8420230605547887, + "object_to_finger_line_xy": 0.00938498620263738, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048613888258648555, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.068099998320132, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 359, + "max_stable_success_frames": 359, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33514060141059665, + -0.33071656655887866, + 0.8515395775118839 + ], + "target_position": [ + 0.3275697657678007, + -0.33237794709149876, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007750983008909145, + "xy_threshold": 0.08, + "gripper_dist": 0.1833266676087353, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395775118839, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07581883953208536, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08757890320148003, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15091052417917944, + "release_required_pad_clearance": 0.053789451600740015, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.588141711615654, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008117139339447021, + "max_z_decrease": 0.008117139339447021, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034997420352062186, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008117139339447021, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021215218908022596, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008117139339447021, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008117167471654934, + "max_button_displacement": 0.12, + "button_start": [ + 0.18326969444751737, + -0.38863942027091974, + 0.7768088579177856 + ], + "button_final": [ + 0.18326969444751737, + -0.38863942027091974, + 0.7768088579177856 + ], + "closest_ee": [ + 0.183248178480291, + -0.388590758589613, + 0.8036891092702665 + ], + "closest_button": [ + 0.18324854969978327, + -0.3886363208293914, + 0.7686917185783386 + ], + "closest_ee_minus_button": [ + -3.712194922567136e-07, + 4.5562239778418334e-05, + 0.034997390691927865 + ], + "button_min_z_position": [ + 0.18324854969978327, + -0.3886363208293914, + 0.7686917185783386 + ], + "min_active_finger_to_button": 0.1459027697854612, + "closest_active_finger": [ + 0.05640894174575806, + -0.4517434239387512, + 0.807577908039093 + ], + "closest_active_finger_button": [ + 0.18327976763248444, + -0.38864445686340326, + 0.7727938294410706 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12687082588672638, + -0.06309896707534796, + 0.03478407859802246 + ], + "min_contact_pad_to_button": 0.021215218908022596, + "closest_contact_pad": [ + 0.18324854969978327, + -0.3897598334639451, + 0.7898771671852319 + ], + "closest_contact_pad_button": [ + 0.18324854969978327, + -0.3886363208293914, + 0.7686917185783386 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0011235126345536806, + 0.02118544860689331 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 21, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "48ec9695c36d63c14ae5de9409f5c00d6b820476a85e83ea98be8608fd2729bf", + "visual_seed": 8924341903223122125, + "episode_index": 21, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_22_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_22_success.json new file mode 100644 index 0000000000000000000000000000000000000000..afa4600d4a4a7291be5b4def73c25fbedba482a1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_22_success.json @@ -0,0 +1,700 @@ +{ + "episode": 22, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.37946261907162065, + -0.08566539345482152, + 1.1668001627600093 + ], + "current_z": 1.1668001627600093, + "required_z": 0.8611066868287004, + "initial_z": 0.7611066868287004, + "lift_margin": 0.3056934759313089, + "gripper_z": 1.1563508746271787, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37549526542662737, + -0.08997354162018284, + 1.1563508746271787 + ], + "object_minus_gripper": [ + 0.003967353644993288, + 0.00430814816536132, + 0.010449288132830636 + ], + "object_to_gripper_xy": 0.00585662322154564, + "object_to_gripper_z": 0.010449288132830636, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.37946261907162065, + -0.10902451589329033, + 1.1668001627600093 + ], + "finger_b": [ + 0.36933836406108206, + -0.08566539345482152, + 1.1668001627600093 + ], + "finger_midpoint": [ + 0.37440049156635136, + -0.09734495467405593, + 1.1668001627600093 + ], + "object_minus_finger_midpoint": [ + 0.005062127505269298, + 0.011679561219234413, + 0.0 + ], + "finger_gap": 0.02545877335249664, + "fingertip_max_gap": 0.09183690616038201, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012729386676248327, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1668001627600093, + "object_top_z": 1.2165625219176923, + "finger_top_clearance": 0.04976235915768301, + "fingertip_min_top_clearance": 0.014928707747304936, + "object_projection_between_fingers": 0.8418565526117207, + "object_to_finger_line_xy": 0.009289281502883596, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04841845308019101, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7622570373435937, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 358, + "max_stable_success_frames": 358, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33214119203727854, + -0.32402785587710836, + 0.851539611074748 + ], + "target_position": [ + 0.3244206836069462, + -0.32552853544525184, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00786500410610675, + "xy_threshold": 0.08, + "gripper_dist": 0.18539372935793505, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539611074748, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07543210801244234, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08504137898774376, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15374693793347868, + "release_required_pad_clearance": 0.05252068949387188, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.11190581332104105, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007807731628417969, + "max_z_decrease": 0.007807731628417969, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035050221412987956, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007807731628417969, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021348207465156012, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007807731628417969, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007807750522301808, + "max_button_displacement": 0.12, + "button_start": [ + 0.18012060225009915, + -0.3817899823188781, + 0.7768088579177856 + ], + "button_final": [ + 0.18012060225009915, + -0.3817899823188781, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17975785845499812, + -0.38336702630015107, + 0.8050168539152014 + ], + "closest_button": [ + 0.180103451013565, + -0.38179349899291987, + 0.7700036764144897 + ], + "closest_ee_minus_button": [ + -0.00034559255856689286, + -0.001573527307231204, + 0.035013177500711645 + ], + "button_min_z_position": [ + 0.18010386824607846, + -0.3817938566207885, + 0.7690011262893677 + ], + "min_active_finger_to_button": 0.14619459367497728, + "closest_active_finger": [ + 0.0388994961977005, + -0.3671453893184662, + 0.8078066110610962 + ], + "closest_active_finger_button": [ + 0.18013109266757965, + -0.38179805874824513, + 0.7729957699775696 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14123159646987915, + 0.014652669429778942, + 0.03481084108352661 + ], + "min_contact_pad_to_button": 0.021348207465156012, + "closest_contact_pad": [ + 0.18010386824607846, + -0.3845802789871525, + 0.7901667071311865 + ], + "closest_contact_pad_button": [ + 0.18010386824607846, + -0.3817938566207885, + 0.7690011262893677 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0027864223663640053, + 0.021165580841818854 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 22, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "89c6c2ab2d36907b44d4cdd465686d1a7f576c5877720d1bfd1044187a97aa1f", + "visual_seed": 2659824643036091892, + "episode_index": 22, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_23_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c8d6a1d12952ea227dbb088901e463ca290149a0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_23_success.json @@ -0,0 +1,700 @@ +{ + "episode": 23, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.38130496725992596, + -0.09033892906936887, + 1.1659882186311514 + ], + "current_z": 1.1659882186311514, + "required_z": 0.8611067464333451, + "initial_z": 0.7611067464333451, + "lift_margin": 0.30488147219780637, + "gripper_z": 1.1554477798048266, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3773688546056502, + -0.09445893132514423, + 1.1554477798048266 + ], + "object_minus_gripper": [ + 0.003936112654275792, + 0.004120002255775357, + 0.010540438826324827 + ], + "object_to_gripper_xy": 0.005698017323134781, + "object_to_gripper_z": 0.010540438826324827, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.38130496725992596, + -0.11381934694693359, + 1.1659882186311514 + ], + "finger_b": [ + 0.37165172187253004, + -0.09033892906936887, + 1.1659882186311514 + ], + "finger_midpoint": [ + 0.376478344566228, + -0.10207913800815123, + 1.1659882186311514 + ], + "object_minus_finger_midpoint": [ + 0.004826622693697991, + 0.01174020893878236, + 0.0 + ], + "finger_gap": 0.025387303326945568, + "fingertip_max_gap": 0.09249563019373971, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012693651663472794, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1659882186311514, + "object_top_z": 1.2158019330744998, + "finger_top_clearance": 0.04981371444334837, + "fingertip_min_top_clearance": 0.014944114333004476, + "object_projection_between_fingers": 0.8554182262641067, + "object_to_finger_line_xy": 0.008928172978898323, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04874781509686986, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.348204965672638, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 358, + "max_stable_success_frames": 358, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3372575244256329, + -0.32764351332843455, + 0.8515395787195661 + ], + "target_position": [ + 0.33055504407425457, + -0.3287061498529887, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006786194754347167, + "xy_threshold": 0.08, + "gripper_dist": 0.18302386642214027, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395787195661, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07560164048839203, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08694250329037416, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15093966742714524, + "release_required_pad_clearance": 0.05347125164518708, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.9555759224146252, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008029639720916748, + "max_z_decrease": 0.008029639720916748, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03505268566186696, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008029639720916748, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021217209999088382, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008029639720916748, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00802965718273803, + "max_button_displacement": 0.12, + "button_start": [ + 0.1862549632787704, + -0.38496759533882136, + 0.7768088579177856 + ], + "button_final": [ + 0.1862549632787704, + -0.38496759533882136, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18479029858073134, + -0.38357603927112194, + 0.8073669869986064 + ], + "closest_button": [ + 0.18624366819858545, + -0.38496974110603327, + 0.7723721861839294 + ], + "closest_ee_minus_button": [ + -0.0014533696178541111, + 0.0013937018349113317, + 0.034994800814676985 + ], + "button_min_z_position": [ + 0.18623830378055567, + -0.38496929407119745, + 0.7687792181968689 + ], + "min_active_finger_to_button": 0.14698863012559646, + "closest_active_finger": [ + 0.05755326896905899, + -0.44679921865463257, + 0.8077638745307922 + ], + "closest_active_finger_button": [ + 0.1862677484750747, + -0.3849725127220153, + 0.7728970050811768 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12871447950601572, + -0.06182670593261724, + 0.03486686944961548 + ], + "min_contact_pad_to_button": 0.021217209999088382, + "closest_contact_pad": [ + 0.18623830378055567, + -0.38496929407119745, + 0.7899964281959573 + ], + "closest_contact_pad_button": [ + 0.18623830378055567, + -0.38496929407119745, + 0.7687792181968689 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021217209999088382 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 23, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d47b21608814e801fdab95833de5b1f9ec7414c1ae9449bdd5c3534b328cacea", + "visual_seed": 7025257275552516384, + "episode_index": 23, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_24_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_24_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d53054983fa9071784a9218a3be8b5fb78c7bac5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_24_success.json @@ -0,0 +1,700 @@ +{ + "episode": 24, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.38432901226842864, + -0.08652183970171382, + 1.1638905365164325 + ], + "current_z": 1.1638905365164325, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.3027840285016663, + "gripper_z": 1.153445032019751, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3800369695291709, + -0.09090938804065121, + 1.153445032019751 + ], + "object_minus_gripper": [ + 0.004292042739257762, + 0.004387548338937397, + 0.010445504496681579 + ], + "object_to_gripper_xy": 0.006137769244776769, + "object_to_gripper_z": 0.010445504496681579, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.38432901226842864, + -0.1101601970275537, + 1.1638905365164325 + ], + "finger_b": [ + 0.3741561592641596, + -0.08652183970171382, + 1.1638905365164325 + ], + "finger_midpoint": [ + 0.3792425857662941, + -0.09834101836463376, + 1.1638905365164325 + ], + "object_minus_finger_midpoint": [ + 0.005086426502134533, + 0.01181917866291994, + 0.0 + ], + "finger_gap": 0.025734390906150335, + "fingertip_max_gap": 0.09198781836366374, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012867195453075178, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1638905365164325, + "object_top_z": 1.2136970173082742, + "finger_top_clearance": 0.04980648079184169, + "fingertip_min_top_clearance": 0.014941944237552506, + "object_projection_between_fingers": 0.8437364267893926, + "object_to_finger_line_xy": 0.009344286997703314, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04849390918183187, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8205876159617937, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 359, + "max_stable_success_frames": 359, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33555775332793725, + -0.3316559624802986, + 0.8515396576875779 + ], + "target_position": [ + 0.3281472756678144, + -0.3332422877971955, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00757836441207522, + "xy_threshold": 0.08, + "gripper_dist": 0.1821891451253707, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396576875779, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07585328332045373, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0880616776851119, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14967373737944542, + "release_required_pad_clearance": 0.05403083884255595, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.07343015379666, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007908880710601807, + "max_z_decrease": 0.007908880710601807, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350748694922427, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007908880710601807, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021148839817549066, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 119, + "max_z_decrease_with_contact_point": 0.007908880710601807, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00790890608485311, + "max_button_displacement": 0.12, + "button_start": [ + 0.18384720385074613, + -0.38950374722480774, + 0.7768088579177856 + ], + "button_final": [ + 0.18384720385074613, + -0.38950374722480774, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18433900172471646, + -0.38900950265587525, + 0.8077085572775088 + ], + "closest_button": [ + 0.18383567035198212, + -0.3895067274570465, + 0.7726408243179321 + ], + "closest_ee_minus_button": [ + 0.0005033313727343391, + 0.0004972248011712588, + 0.03506773295957666 + ], + "button_min_z_position": [ + 0.18382743000984192, + -0.3895069658756256, + 0.7688999772071838 + ], + "min_active_finger_to_button": 0.1455658928758397, + "closest_active_finger": [ + 0.05810904502868652, + -0.4542008638381958, + 0.8111488819122314 + ], + "closest_active_finger_button": [ + 0.18385149538516996, + -0.38950541615486145, + 0.7766124606132507 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12574245035648343, + -0.06469544768333435, + 0.03453642129898071 + ], + "min_contact_pad_to_button": 0.021148839817549066, + "closest_contact_pad": [ + 0.18382743000984192, + -0.39000158716623234, + 0.7900430322231277 + ], + "closest_contact_pad_button": [ + 0.18382743000984192, + -0.3895069658756256, + 0.7688999772071838 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0004946212906067338, + 0.021143055015943824 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 24, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "34ff2992a69763dfbb3ae201b0c344d0c16f64ced4649100af95759a02cc734a", + "visual_seed": 4055583737786890038, + "episode_index": 24, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_25_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ab97f5845a8f53452873c3fd0d9b597d6c394b38 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_25_success.json @@ -0,0 +1,700 @@ +{ + "episode": 25, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3837938682546804, + -0.08650706310088738, + 1.1657300556013732 + ], + "current_z": 1.1657300556013732, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.30462354758660704, + "gripper_z": 1.1552188533430157, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37983328167790553, + -0.09061321324787122, + 1.1552188533430157 + ], + "object_minus_gripper": [ + 0.003960586576774894, + 0.004106150146983845, + 0.010511202258357555 + ], + "object_to_gripper_xy": 0.005704972836193431, + "object_to_gripper_z": 0.010511202258357555, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3837938682546804, + -0.11004573640487221, + 1.1657300556013732 + ], + "finger_b": [ + 0.374217915309858, + -0.08650706310088738, + 1.1657300556013732 + ], + "finger_midpoint": [ + 0.3790058917822692, + -0.0982763997528798, + 1.1657300556013732 + ], + "object_minus_finger_midpoint": [ + 0.004787976472411248, + 0.011769336651992424, + 0.0 + ], + "finger_gap": 0.0254119659946487, + "fingertip_max_gap": 0.09243380507524632, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012705982997324367, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1657300556013732, + "object_top_z": 1.2155806226328454, + "finger_top_clearance": 0.04985056703147217, + "fingertip_min_top_clearance": 0.01495517010944165, + "object_projection_between_fingers": 0.8580002840490916, + "object_to_finger_line_xy": 0.008870042876256555, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04871690253762316, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.1878340548526656, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 358, + "max_stable_success_frames": 358, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32971219751329134, + -0.3320694756015157, + 0.8515395563831544 + ], + "target_position": [ + 0.322917962082533, + -0.3330937602551819, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006871011143951689, + "xy_threshold": 0.08, + "gripper_dist": 0.1848979783415793, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395563831544, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07570010197320015, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08858265362760713, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15242654236075925, + "release_required_pad_clearance": 0.05429132681380357, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.602924931080158, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007971525192260742, + "max_z_decrease": 0.007971525192260742, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03509364932066718, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007971525192260742, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02114674094575089, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007971525192260742, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00797155327618989, + "max_button_displacement": 0.12, + "button_start": [ + 0.17861789464950562, + -0.3893552124500274, + 0.7768088579177856 + ], + "button_final": [ + 0.17861789464950562, + -0.3893552124500274, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17728265776520452, + -0.3896114712835307, + 0.8070833741144952 + ], + "closest_button": [ + 0.17860515415668488, + -0.3893575966358184, + 0.7720155715942383 + ], + "closest_ee_minus_button": [ + -0.0013224963914803545, + -0.00025387464771226, + 0.035067802520256874 + ], + "button_min_z_position": [ + 0.17859695851802826, + -0.38935828208923334, + 0.7688373327255249 + ], + "min_active_finger_to_button": 0.1473993112373215, + "closest_active_finger": [ + 0.050508275628089905, + -0.45361024141311646, + 0.8107711672782898 + ], + "closest_active_finger_button": [ + 0.17862084507942197, + -0.3893571496009826, + 0.7763434648513794 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12811256945133206, + -0.06425309181213384, + 0.0344277024269104 + ], + "min_contact_pad_to_button": 0.02114674094575089, + "closest_contact_pad": [ + 0.17859695851802826, + -0.39075174877780594, + 0.7899381124081465 + ], + "closest_contact_pad_button": [ + 0.17859695851802826, + -0.38935828208923334, + 0.7688373327255249 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0013934666885725977, + 0.021100779682621584 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 25, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ff0d78680dd2639b6ad3771819a4218fe1fb883268860f5e93633a6c1c2a19d5", + "visual_seed": 415765932760592283, + "episode_index": 25, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_26_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_26_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7220e98e9698bc3cf22885cd060772bf5c529373 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_26_success.json @@ -0,0 +1,700 @@ +{ + "episode": 26, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3769310103025424, + -0.09077528602744327, + 1.1667522180590506 + ], + "current_z": 1.1667522180590506, + "required_z": 0.8611066868287004, + "initial_z": 0.7611066868287004, + "lift_margin": 0.3056455312303502, + "gripper_z": 1.156314433399263, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.372907430622309, + -0.09496504160936217, + 1.156314433399263 + ], + "object_minus_gripper": [ + 0.004023579680233369, + 0.004189755581918905, + 0.010437784659787619 + ], + "object_to_gripper_xy": 0.00580889363643435, + "object_to_gripper_z": 0.010437784659787619, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3769310103025424, + -0.1143033853320692, + 1.1667522180590506 + ], + "finger_b": [ + 0.36716082831718305, + -0.09077528602744327, + 1.1667522180590506 + ], + "finger_midpoint": [ + 0.37204591930986275, + -0.10253933567975623, + 1.1667522180590506 + ], + "object_minus_finger_midpoint": [ + 0.0048850909926796415, + 0.011764049652312966, + 0.0 + ], + "finger_gap": 0.0254760262387088, + "fingertip_max_gap": 0.09224240323246483, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01273801311935439, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1667522180590506, + "object_top_z": 1.2165253466539863, + "finger_top_clearance": 0.049773128594935656, + "fingertip_min_top_clearance": 0.014931938578480663, + "object_projection_between_fingers": 0.8529239588506177, + "object_to_finger_line_xy": 0.009023142377932026, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048621201616232415, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.178453155656812, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 356, + "max_stable_success_frames": 356, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.331248620161037, + -0.3296128409075343, + 0.8515395580918619 + ], + "target_position": [ + 0.32496943783520255, + -0.33025649131672363, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006312084959054459, + "xy_threshold": 0.08, + "gripper_dist": 0.18468290885765287, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395580918619, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07535303010669579, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08761105822417091, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15303053641240105, + "release_required_pad_clearance": 0.05380552911208546, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.6203026336317015, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008036434650421143, + "max_z_decrease": 0.008036434650421143, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03508272600062369, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008036434650421143, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021271536549445382, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008036434650421143, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0080364489573644, + "max_button_displacement": 0.12, + "button_start": [ + 0.18066936731338495, + -0.3865179419517517, + 0.7768088579177856 + ], + "button_final": [ + 0.18066936731338495, + -0.3865179419517517, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18062021082393817, + -0.3879435139797327, + 0.8038261921700302 + ], + "closest_button": [ + 0.180654227733612, + -0.38651880621910095, + 0.7687724232673645 + ], + "closest_ee_minus_button": [ + -3.4016909673834084e-05, + -0.0014247077606317493, + 0.03505376890266565 + ], + "button_min_z_position": [ + 0.180654227733612, + -0.38651880621910095, + 0.7687724232673645 + ], + "min_active_finger_to_button": 0.14575154494133105, + "closest_active_finger": [ + 0.03971598297357559, + -0.3732379674911499, + 0.8075277209281921 + ], + "closest_active_finger_button": [ + 0.18067669868469233, + -0.38652509450912476, + 0.7729294300079346 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14096071571111674, + 0.013287127017974854, + 0.03459829092025757 + ], + "min_contact_pad_to_button": 0.021271536549445382, + "closest_contact_pad": [ + 0.180654227733612, + -0.3890002832281737, + 0.7898987229676867 + ], + "closest_contact_pad_button": [ + 0.180654227733612, + -0.38651880621910095, + 0.7687724232673645 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0024814770090727523, + 0.021126299700322204 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 26, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "350a7c4df42075ae5eb8c06014c481d86b6f5449041acd081914b805b8cbfc66", + "visual_seed": 5944541846931628000, + "episode_index": 26, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_27_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_27_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d5ea0a71a7d2dd1c4fa395f56e25de282e08fec0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_27_success.json @@ -0,0 +1,700 @@ +{ + "episode": 27, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.38313524504878016, + -0.08601022158507328, + 1.1658179248090423 + ], + "current_z": 1.1658179248090423, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.30471147639892127, + "gripper_z": 1.1553058488335761, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3791298031943587, + -0.0901898006853604, + 1.1553058488335761 + ], + "object_minus_gripper": [ + 0.0040054418544214765, + 0.004179579100287115, + 0.010512075975466217 + ], + "object_to_gripper_xy": 0.0057889935139632176, + "object_to_gripper_z": 0.010512075975466217, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.38313524504878016, + -0.10963528724828216, + 1.1658179248090423 + ], + "finger_b": [ + 0.37353330746401, + -0.08601022158507328, + 1.1658179248090423 + ], + "finger_midpoint": [ + 0.37833427625639504, + -0.09782275441667772, + 1.1658179248090423 + ], + "object_minus_finger_midpoint": [ + 0.0048009687923851185, + 0.011812532831604439, + 0.0 + ], + "finger_gap": 0.025501782937135068, + "fingertip_max_gap": 0.09223488592484005, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012750891468567544, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1658179248090423, + "object_top_z": 1.2155546675548357, + "finger_top_clearance": 0.049736742745793316, + "fingertip_min_top_clearance": 0.014921022823737994, + "object_projection_between_fingers": 0.8582325043567803, + "object_to_finger_line_xy": 0.008895315535130703, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04861744296242003, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.2328827648394336, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 351, + "max_stable_success_frames": 351, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33398397623305176, + -0.32807605917358085, + 0.8515395713030158 + ], + "target_position": [ + 0.3272974709818841, + -0.32907802919348594, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006761160876260911, + "xy_threshold": 0.08, + "gripper_dist": 0.18301513230968103, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395713030158, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07586747325913695, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08876342195321689, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.150474496874856, + "release_required_pad_clearance": 0.05438171097660845, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.788064619837317, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008034765720367432, + "max_z_decrease": 0.008034765720367432, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035006748796639224, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008034765720367432, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021368838373877028, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008034765720367432, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008034795424750042, + "max_button_displacement": 0.12, + "button_start": [ + 0.18299739062786097, + -0.3853394985198974, + 0.7768088579177856 + ], + "button_final": [ + 0.18299739062786097, + -0.3853394985198974, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18277655010130794, + -0.386325534000313, + 0.8052904274689707 + ], + "closest_button": [ + 0.18298268318176264, + -0.3853392302989959, + 0.770298182964325 + ], + "closest_ee_minus_button": [ + -0.0002061330804546957, + -0.0009863037013170817, + 0.034992244504645775 + ], + "button_min_z_position": [ + 0.1829755455255508, + -0.38533914089202875, + 0.7687740921974182 + ], + "min_active_finger_to_button": 0.14625965865534224, + "closest_active_finger": [ + 0.04207053780555725, + -0.36835482716560364, + 0.8080792427062988 + ], + "closest_active_finger_button": [ + 0.1830101758241653, + -0.38534718751907343, + 0.7728774547576904 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14093963801860804, + 0.016992360353469793, + 0.0352017879486084 + ], + "min_contact_pad_to_button": 0.021368838373877028, + "closest_contact_pad": [ + 0.1829755455255508, + -0.38771378172673054, + 0.7900105781203539 + ], + "closest_contact_pad_button": [ + 0.1829755455255508, + -0.38533914089202875, + 0.7687740921974182 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002374640834701791, + 0.0212364859229357 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 27, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b92efe08bddf45bce3c3d70a17273a12bf291b60ad8424ed78bb94059c317ec1", + "visual_seed": 4205071782842172677, + "episode_index": 27, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_28_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_28_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7ce869215706224b8de82f117eeb147f9e732cdb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_28_success.json @@ -0,0 +1,700 @@ +{ + "episode": 28, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.384923594354395, + -0.0887754975448031, + 1.16527512690909 + ], + "current_z": 1.16527512690909, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.304168618894324, + "gripper_z": 1.154741645059401, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.38090307196511053, + -0.09318767168386911, + 1.154741645059401 + ], + "object_minus_gripper": [ + 0.004020522389284464, + 0.0044121741390660135, + 0.010533481849688942 + ], + "object_to_gripper_xy": 0.005969244585052666, + "object_to_gripper_z": 0.010533481849688942, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.384923594354395, + -0.11210736171812526, + 1.16527512690909 + ], + "finger_b": [ + 0.3745557976697403, + -0.0887754975448031, + 1.16527512690909 + ], + "finger_midpoint": [ + 0.37973969601206764, + -0.10044142963146419, + 1.16527512690909 + ], + "object_minus_finger_midpoint": [ + 0.005183898342327353, + 0.011665932086661085, + 0.0 + ], + "finger_gap": 0.025531688034610856, + "fingertip_max_gap": 0.09175091572849595, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012765844017305433, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.16527512690909, + "object_top_z": 1.215039033374917, + "finger_top_clearance": 0.04976390646582707, + "fingertip_min_top_clearance": 0.01492917193974812, + "object_projection_between_fingers": 0.8351025705995024, + "object_to_finger_line_xy": 0.009474501791462538, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048375457864247975, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.717458734658494, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 359, + "max_stable_success_frames": 359, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3331184286818238, + -0.32635607500685804, + 0.8515395700468498 + ], + "target_position": [ + 0.3240091330059426, + -0.32865009416684066, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009393710215723886, + "xy_threshold": 0.08, + "gripper_dist": 0.18663025524323587, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395700468498, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07578379563067074, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08806331250042009, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15415718274455711, + "release_required_pad_clearance": 0.054031656250210044, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.0752124772552976, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007853269577026367, + "max_z_decrease": 0.007853269577026367, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035149338779453775, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007853269577026367, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02112987157029278, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007853269577026367, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007853292274994863, + "max_button_displacement": 0.12, + "button_start": [ + 0.17970906198024747, + -0.38491156697273254, + 0.7768088579177856 + ], + "button_final": [ + 0.17970906198024747, + -0.38491156697273254, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18031722405529513, + -0.38302846290435427, + 0.8077000675670012 + ], + "closest_button": [ + 0.1796988397836685, + -0.38491517305374146, + 0.7726068496704102 + ], + "closest_ee_minus_button": [ + 0.0006183842716266374, + 0.001886710149387183, + 0.035093217896591034 + ], + "button_min_z_position": [ + 0.17969053983688354, + -0.38491523265838623, + 0.7689555883407593 + ], + "min_active_finger_to_button": 0.14482429435747282, + "closest_active_finger": [ + 0.05411063879728317, + -0.4482629895210266, + 0.8108512163162231 + ], + "closest_active_finger_button": [ + 0.17971259355545038, + -0.38491371273994446, + 0.7764260172843933 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1256019547581672, + -0.06334927678108215, + 0.034425199031829834 + ], + "min_contact_pad_to_button": 0.02112987157029278, + "closest_contact_pad": [ + 0.17969053983688354, + -0.38491523265838623, + 0.7900854599110521 + ], + "closest_contact_pad_button": [ + 0.17969053983688354, + -0.38491523265838623, + 0.7689555883407593 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02112987157029278 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 28, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7b6b2934274081d096700d083fe9cb285dfc0666af8319474a15041c97353234", + "visual_seed": 7524278417562469934, + "episode_index": 28, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_29_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_29_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e379121b3815948be27274b9e22a73582ea259fa --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_29_success.json @@ -0,0 +1,700 @@ +{ + "episode": 29, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.38126606239929656, + -0.0855761310925644, + 1.167431395572327 + ], + "current_z": 1.167431395572327, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.30632494716220593, + "gripper_z": 1.1570240561087821, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37716770920648324, + -0.09000979099383978, + 1.1570240561087821 + ], + "object_minus_gripper": [ + 0.00409835319281332, + 0.00443365990127538, + 0.010407339463544885 + ], + "object_to_gripper_xy": 0.006037701467712721, + "object_to_gripper_z": 0.010407339463544885, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.38126606239929656, + -0.10892497968002669, + 1.167431395572327 + ], + "finger_b": [ + 0.3708244599263494, + -0.0855761310925644, + 1.167431395572327 + ], + "finger_midpoint": [ + 0.376045261162823, + -0.09725055538629554, + 1.167431395572327 + ], + "object_minus_finger_midpoint": [ + 0.00522080123647356, + 0.01167442429373114, + 0.0 + ], + "finger_gap": 0.0255772514661622, + "fingertip_max_gap": 0.09201773254258397, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012788625733081083, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.167431395572327, + "object_top_z": 1.2172232407706476, + "finger_top_clearance": 0.04979184519832058, + "fingertip_min_top_clearance": 0.014937553559496207, + "object_projection_between_fingers": 0.8333418474370459, + "object_to_finger_line_xy": 0.009531884044454639, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04850886627129199, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9073762551509554, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 358, + "max_stable_success_frames": 358, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3393285319736774, + -0.3298816958817161, + 0.8515395659130557 + ], + "target_position": [ + 0.3306173553970284, + -0.331935587264934, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008950031685062055, + "xy_threshold": 0.08, + "gripper_dist": 0.18462376478273493, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395659130557, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07538347894515122, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08583454023276847, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15328896560328192, + "release_required_pad_clearance": 0.05291727011638424, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8731185376623776, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007773697376251221, + "max_z_decrease": 0.007773697376251221, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503338355841024, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007773697376251221, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021265413261577455, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 119, + "max_z_decrease_with_contact_point": 0.007773697376251221, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007773714456394699, + "max_button_displacement": 0.12, + "button_start": [ + 0.18631727993488317, + -0.3881970345973969, + 0.7768088579177856 + ], + "button_final": [ + 0.18631727993488317, + -0.3881970345973969, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18472153861729118, + -0.38877082593830925, + 0.8077874742759205 + ], + "closest_button": [ + 0.18630762398242956, + -0.3882002830505371, + 0.7727946639060974 + ], + "closest_ee_minus_button": [ + -0.0015860853651383788, + -0.0005705428877721408, + 0.034992810369823046 + ], + "button_min_z_position": [ + 0.1863012164831162, + -0.3881997764110565, + 0.7690351605415344 + ], + "min_active_finger_to_button": 0.14779458158418154, + "closest_active_finger": [ + 0.04353080689907074, + -0.37288492918014526, + 0.8081565499305725 + ], + "closest_active_finger_button": [ + 0.18632657825946813, + -0.38820225000381475, + 0.7732568979263306 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1427957713603974, + 0.015317320823669489, + 0.03489965200424194 + ], + "min_contact_pad_to_button": 0.021265413261577455, + "closest_contact_pad": [ + 0.1863012164831162, + -0.3899987945867965, + 0.7902243402044905 + ], + "closest_contact_pad_button": [ + 0.1863012164831162, + -0.3881997764110565, + 0.7690351605415344 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0017990181757399637, + 0.02118917966295608 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 29, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "665e52490243e978d1a88a3e11e7c4ab689251deccf4c9e0bc55d7e700a01742", + "visual_seed": 4425538193484738976, + "episode_index": 29, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_2_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_2_success.json new file mode 100644 index 0000000000000000000000000000000000000000..635e157a1e978806165210157015b1b94e54e740 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_2_success.json @@ -0,0 +1,700 @@ +{ + "episode": 2, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.383066778040961, + -0.09166750451031656, + 1.1675039804640828 + ], + "current_z": 1.1675039804640828, + "required_z": 0.8611067464333451, + "initial_z": 0.7611067464333451, + "lift_margin": 0.3063972340307377, + "gripper_z": 1.1570859257698636, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3788683028099988, + -0.09596037704764507, + 1.1570859257698636 + ], + "object_minus_gripper": [ + 0.004198475230962229, + 0.004292872537328504, + 0.010418054694219192 + ], + "object_to_gripper_xy": 0.006004660597132248, + "object_to_gripper_z": 0.010418054694219192, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.383066778040961, + -0.1152361454880739, + 1.1675039804640828 + ], + "finger_b": [ + 0.37303686153973625, + -0.09166750451031656, + 1.1675039804640828 + ], + "finger_midpoint": [ + 0.37805181979034863, + -0.10345182499919522, + 1.1675039804640828 + ], + "object_minus_finger_midpoint": [ + 0.005014958250612378, + 0.01178432048887866, + 0.0 + ], + "finger_gap": 0.025614059860942836, + "fingertip_max_gap": 0.092380257346488, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012807029930471411, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1675039804640828, + "object_top_z": 1.217293160366928, + "finger_top_clearance": 0.04978917990284515, + "fingertip_min_top_clearance": 0.014936753970853511, + "object_projection_between_fingers": 0.8466662366952412, + "object_to_finger_line_xy": 0.009228974334315049, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048690128673244, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.22079994789408, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 360, + "max_stable_success_frames": 360, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3347178242026311, + -0.3321155987256112, + 0.8515395649531565 + ], + "target_position": [ + 0.32804046617949556, + -0.3332066668068796, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00676591011816555, + "xy_threshold": 0.08, + "gripper_dist": 0.18360549347588745, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395649531565, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07544772847772906, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08694044848933029, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15196537912903363, + "release_required_pad_clearance": 0.053470224244665146, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.953573645693299, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008133947849273682, + "max_z_decrease": 0.008133947849273682, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035006106170190114, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008133947849273682, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021159170187901744, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008133947849273682, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00813394994852834, + "max_button_displacement": 0.12, + "button_start": [ + 0.18374039232730857, + -0.38946813344955444, + 0.7768088579177856 + ], + "button_final": [ + 0.18374039232730857, + -0.38946813344955444, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1836261031891235, + -0.388675675025642, + 0.8036719788656028 + ], + "closest_button": [ + 0.1837371438741683, + -0.38946327567100525, + 0.768674910068512 + ], + "closest_ee_minus_button": [ + -0.00011104068504480535, + 0.0007876006453632622, + 0.03499706879709086 + ], + "button_min_z_position": [ + 0.1837371438741683, + -0.38946327567100525, + 0.768674910068512 + ], + "min_active_finger_to_button": 0.145653415117212, + "closest_active_finger": [ + 0.057034850120544434, + -0.45234018564224243, + 0.8074984550476074 + ], + "closest_active_finger_button": [ + 0.1837517619132995, + -0.38947421312332153, + 0.7727765440940857 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12671691179275507, + -0.0628659725189209, + 0.03472191095352173 + ], + "min_contact_pad_to_button": 0.021159170187901744, + "closest_contact_pad": [ + 0.1837371438741683, + -0.3897956302263216, + 0.7898314698902351 + ], + "closest_contact_pad_button": [ + 0.1837371438741683, + -0.38946327567100525, + 0.768674910068512 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0003323545553163276, + 0.021156559821723153 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 2, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0a0d3251c13ae58e42db2ee861a2ec70b5b14f7f8c5ddc9699fd2eebee20a781", + "visual_seed": 4714551895382359730, + "episode_index": 2, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_30_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_30_success.json new file mode 100644 index 0000000000000000000000000000000000000000..42d62e483b50d5661031366a0dd3b7ee85a067eb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_30_success.json @@ -0,0 +1,700 @@ +{ + "episode": 30, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.37971073721667153, + -0.08486862961960957, + 1.1657486552561989 + ], + "current_z": 1.1657486552561989, + "required_z": 0.8611066868287003, + "initial_z": 0.7611066868287003, + "lift_margin": 0.3046419684274986, + "gripper_z": 1.155447670826889, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37576625886070414, + -0.08917706142383222, + 1.155447670826889 + ], + "object_minus_gripper": [ + 0.003944478355967396, + 0.004308431804222648, + 0.010300984429309823 + ], + "object_to_gripper_xy": 0.005841360638783781, + "object_to_gripper_z": 0.010300984429309823, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.37971073721667153, + -0.108129457204531, + 1.1657486552561989 + ], + "finger_b": [ + 0.3694696521988103, + -0.08486862961960957, + 1.1657486552561989 + ], + "finger_midpoint": [ + 0.3745901947077409, + -0.09649904341207029, + 1.1657486552561989 + ], + "object_minus_finger_midpoint": [ + 0.005120542508930626, + 0.011630413792460714, + 0.0 + ], + "finger_gap": 0.025415466202265577, + "fingertip_max_gap": 0.09294408471048374, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012707733101132788, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1657486552561989, + "object_top_z": 1.2156264572511768, + "finger_top_clearance": 0.04987780199497793, + "fingertip_min_top_clearance": 0.014963340598493413, + "object_projection_between_fingers": 0.837633741888005, + "object_to_finger_line_xy": 0.009372879922295409, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04897204235524187, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.7838081868606728, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 363, + "max_stable_success_frames": 363, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33323702549594547, + -0.32430889267970564, + 0.8515396467363509 + ], + "target_position": [ + 0.325968840487947, + -0.32568714461290077, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0073977085439918405, + "xy_threshold": 0.08, + "gripper_dist": 0.1858130110866832, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396467363509, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07559037106815758, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08697358911824586, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15370088293272224, + "release_required_pad_clearance": 0.05348679455912293, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.986156124547177, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007858335971832275, + "max_z_decrease": 0.007858335971832275, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035071338201997926, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007858335971832275, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021168365705184093, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007858335971832275, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007858355217050979, + "max_button_displacement": 0.12, + "button_start": [ + 0.18166877329349515, + -0.38194859027862554, + 0.7768088579177856 + ], + "button_final": [ + 0.18166877329349515, + -0.38194859027862554, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18191148006117477, + -0.3808778365521655, + 0.8074788366359378 + ], + "closest_button": [ + 0.1816583275794983, + -0.38195234537124634, + 0.7724248766899109 + ], + "closest_ee_minus_button": [ + 0.00025315248167648297, + 0.0010745088190808327, + 0.03505395994602689 + ], + "button_min_z_position": [ + 0.1816518604755401, + -0.38195264339447027, + 0.7689505219459534 + ], + "min_active_finger_to_button": 0.1455430758743524, + "closest_active_finger": [ + 0.05527935177087784, + -0.44527605175971985, + 0.8109734654426575 + ], + "closest_active_finger_button": [ + 0.18167327344417572, + -0.3819506764411927, + 0.7763720154762268 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12639392167329788, + -0.06332537531852717, + 0.034601449966430664 + ], + "min_contact_pad_to_button": 0.021168365705184093, + "closest_contact_pad": [ + 0.1816518604755401, + -0.38198616901527177, + 0.7901188611028443 + ], + "closest_contact_pad_button": [ + 0.1816518604755401, + -0.38195264339447027, + 0.7689505219459534 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -3.352562080150001e-05, + 0.02116833915689098 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 30, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "cb35e71a8e1c0f02e87b995d40a57e574a4f941f743e5ebb4f8e4c3f8a21b570", + "visual_seed": 1484744159973098618, + "episode_index": 30, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_31_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_31_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c58c87bd0a15309846b77b805fc17db36189b411 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_31_success.json @@ -0,0 +1,700 @@ +{ + "episode": 31, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.37754617969398313, + -0.09009740093946669, + 1.1673889092193317 + ], + "current_z": 1.1673889092193317, + "required_z": 0.8611066868287003, + "initial_z": 0.7611066868287003, + "lift_margin": 0.3062822223906314, + "gripper_z": 1.1570080255792674, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37351204787613596, + -0.09449496430241004, + 1.1570080255792674 + ], + "object_minus_gripper": [ + 0.004034131817847175, + 0.004397563362943349, + 0.010380883640064287 + ], + "object_to_gripper_xy": 0.005967644682357402, + "object_to_gripper_z": 0.010380883640064287, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.37754617969398313, + -0.11332849061334634, + 1.1673889092193317 + ], + "finger_b": [ + 0.3670522979474896, + -0.09009740093946669, + 1.1673889092193317 + ], + "finger_midpoint": [ + 0.37229923882073634, + -0.10171294577640652, + 1.1673889092193317 + ], + "object_minus_finger_midpoint": [ + 0.005246940873246786, + 0.011615544836939828, + 0.0 + ], + "finger_gap": 0.02549127461593922, + "fingertip_max_gap": 0.09209326694260098, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012745637307969626, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1673889092193317, + "object_top_z": 1.2171889569641423, + "finger_top_clearance": 0.049800047744810616, + "fingertip_min_top_clearance": 0.014940014323443183, + "object_projection_between_fingers": 0.8305314051291777, + "object_to_finger_line_xy": 0.009563441277567392, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04854663347130049, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.942732892880875, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 365, + "max_stable_success_frames": 365, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33967709069068774, + -0.32814311449607825, + 0.8515395156827591 + ], + "target_position": [ + 0.33109216835778255, + -0.3300730735947678, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008799183688537758, + "xy_threshold": 0.08, + "gripper_dist": 0.1850359266941003, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395156827591, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07512316572092363, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08511860037494388, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1542380414808918, + "release_required_pad_clearance": 0.052559300187471944, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.1855748268033486, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 159, + "max_placed_release_frames": 159 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008082568645477295, + "max_z_decrease": 0.008082568645477295, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035012681109271894, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008082568645477295, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021270236326481447, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 119, + "max_z_decrease_with_contact_point": 0.008082568645477295, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008082595759285962, + "max_button_displacement": 0.12, + "button_start": [ + 0.18679209053516382, + -0.3863345384597777, + 0.7768088579177856 + ], + "button_final": [ + 0.18679209053516382, + -0.3863345384597777, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18563025537537792, + -0.38614375348747776, + 0.8064500339238764 + ], + "closest_button": [ + 0.18677884340286255, + -0.38633468747138966, + 0.7714567184448242 + ], + "closest_ee_minus_button": [ + -0.0011485880274846316, + 0.00019093398391190064, + 0.034993315479052156 + ], + "button_min_z_position": [ + 0.1867712289094925, + -0.38633278012275685, + 0.7687262892723083 + ], + "min_active_finger_to_button": 0.14717653075655338, + "closest_active_finger": [ + 0.05814996361732483, + -0.44864583015441895, + 0.8078463077545166 + ], + "closest_active_finger_button": [ + 0.18680348992347715, + -0.38634127378463734, + 0.7728128433227539 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12865352630615232, + -0.062304556369781605, + 0.035033464431762695 + ], + "min_contact_pad_to_button": 0.021270236326481447, + "closest_contact_pad": [ + 0.1867712289094925, + -0.38742602120866276, + 0.789968411984327 + ], + "closest_contact_pad_button": [ + 0.1867712289094925, + -0.38633278012275685, + 0.7687262892723083 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001093241085905916, + 0.02124212271201864 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 31, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f01900827e19bebcb986af66ed54ece46ac8f1e5cfef7169ea715cc08ddd7c65", + "visual_seed": 7355132602961355088, + "episode_index": 31, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_32_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_32_success.json new file mode 100644 index 0000000000000000000000000000000000000000..de01b4ddceeebaba26c8deefcda324f0e422f393 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_32_success.json @@ -0,0 +1,700 @@ +{ + "episode": 32, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.38433850638974054, + -0.08698343092325717, + 1.1670085517762283 + ], + "current_z": 1.1670085517762283, + "required_z": 0.8611066868287003, + "initial_z": 0.7611066868287003, + "lift_margin": 0.305901864947528, + "gripper_z": 1.1565510052256731, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.38031380304429707, + -0.09126878073261378, + 1.1565510052256731 + ], + "object_minus_gripper": [ + 0.00402470334544347, + 0.004285349809356617, + 0.010457546550555197 + ], + "object_to_gripper_xy": 0.005878984606832769, + "object_to_gripper_z": 0.010457546550555197, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.38433850638974054, + -0.11030743953750566, + 1.1670085517762283 + ], + "finger_b": [ + 0.374148279623887, + -0.08698343092325717, + 1.1670085517762283 + ], + "finger_midpoint": [ + 0.37924339300681376, + -0.09864543523038141, + 1.1670085517762283 + ], + "object_minus_finger_midpoint": [ + 0.005095113382926786, + 0.011662004307124246, + 0.0 + ], + "finger_gap": 0.025452899626114415, + "fingertip_max_gap": 0.09262488542651079, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012726449813057218, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1670085517762283, + "object_top_z": 1.2168618165438185, + "finger_top_clearance": 0.04985326476759022, + "fingertip_min_top_clearance": 0.014955979430277032, + "object_projection_between_fingers": 0.8397148944804267, + "object_to_finger_line_xy": 0.009337912000566667, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0488124427132554, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.361536111243939, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 362, + "max_stable_success_frames": 362, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3394541630856967, + -0.33021972234623787, + 0.8515394948015047 + ], + "target_position": [ + 0.3321548936868946, + -0.33170422667923183, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007448696991485599, + "xy_threshold": 0.08, + "gripper_dist": 0.18440804708058003, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515394948015047, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07558398315680905, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08732964331983005, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1523171389534677, + "release_required_pad_clearance": 0.05366482165991503, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.3393808559421867, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008124887943267822, + "max_z_decrease": 0.008124887943267822, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500995130949325, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008124887943267822, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02121673702973535, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008124887943267822, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008124936006265605, + "max_button_displacement": 0.12, + "button_start": [ + 0.1878548264503479, + -0.3879656791687011, + 0.7768088579177856 + ], + "button_final": [ + 0.1878548264503479, + -0.3879656791687011, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18706683076082153, + -0.38695904969171846, + 0.8036711420782644 + ], + "closest_button": [ + 0.18782693147659302, + -0.38796737790107727, + 0.7686839699745178 + ], + "closest_ee_minus_button": [ + -0.0007601007157714834, + 0.0010083282093588108, + 0.03498717210374658 + ], + "button_min_z_position": [ + 0.18782693147659302, + -0.38796737790107727, + 0.7686839699745178 + ], + "min_active_finger_to_button": 0.14629979841578522, + "closest_active_finger": [ + 0.05943060666322708, + -0.44845321774482727, + 0.8081062436103821 + ], + "closest_active_finger_button": [ + 0.1878691166639328, + -0.38797134160995483, + 0.7727633118629456 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12843851000070572, + -0.060481876134872437, + 0.03534293174743652 + ], + "min_contact_pad_to_button": 0.02121673702973535, + "closest_contact_pad": [ + 0.18782693147659302, + -0.3883003527855937, + 0.7898980939940295 + ], + "closest_contact_pad_button": [ + 0.18782693147659302, + -0.38796737790107727, + 0.7686839699745178 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00033297488451644597, + 0.021214124019511726 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 32, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "eef38cad88b2905be47953d82e65e38888a38be2dda4637c9b618d9340b0f230", + "visual_seed": 2851612229307281039, + "episode_index": 32, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_33_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_33_success.json new file mode 100644 index 0000000000000000000000000000000000000000..eaa7da6c70c2a0c6c4ae8cd8122973d136fadc2f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_33_success.json @@ -0,0 +1,700 @@ +{ + "episode": 33, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.386270819120361, + -0.09238080958951712, + 1.1680783055334487 + ], + "current_z": 1.1680783055334487, + "required_z": 0.8611067464333451, + "initial_z": 0.7611067464333451, + "lift_margin": 0.30697155910010365, + "gripper_z": 1.157539448116986, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3824667116451056, + -0.09665384714520518, + 1.157539448116986 + ], + "object_minus_gripper": [ + 0.0038041074752553916, + 0.004273037555688058, + 0.010538857416462655 + ], + "object_to_gripper_xy": 0.005721021205660273, + "object_to_gripper_z": 0.010538857416462655, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.386270819120361, + -0.11552563624037582, + 1.1680783055334487 + ], + "finger_b": [ + 0.37604992235122026, + -0.09238080958951712, + 1.1680783055334487 + ], + "finger_midpoint": [ + 0.3811603707357906, + -0.10395322291494646, + 1.1680783055334487 + ], + "object_minus_finger_midpoint": [ + 0.005110448384570365, + 0.01157241332542934, + 0.0 + ], + "finger_gap": 0.025301180436171952, + "fingertip_max_gap": 0.09250315120639382, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01265059021808597, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1680783055334487, + "object_top_z": 1.2179629255980795, + "finger_top_clearance": 0.04988462006463079, + "fingertip_min_top_clearance": 0.01496538601938927, + "object_projection_between_fingers": 0.8368089126171095, + "object_to_finger_line_xy": 0.009349796328075016, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048751575603196914, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.3677315596912574, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 371, + "max_stable_success_frames": 371, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3320470241256081, + -0.3233577568508269, + 0.851539502967132 + ], + "target_position": [ + 0.32372184118846514, + -0.3253534483824538, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008561042905295097, + "xy_threshold": 0.08, + "gripper_dist": 0.18343776267737724, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539502967132, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07559032222802042, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08680545491941453, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15149928798924084, + "release_required_pad_clearance": 0.05340272745970727, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.820424508227837, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007682383060455322, + "max_z_decrease": 0.007682383060455322, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503175207202352, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007682383060455322, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021242184271528283, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007682383060455322, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007682399820587142, + "max_button_displacement": 0.12, + "button_start": [ + 0.1794217675924301, + -0.3816148936748504, + 0.7768088579177856 + ], + "button_final": [ + 0.1794217675924301, + -0.3816148936748504, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1783884903401914, + -0.38196915194883685, + 0.8064833995633429 + ], + "closest_button": [ + 0.17940898239612574, + -0.38161733746528625, + 0.7714682817459106 + ], + "closest_ee_minus_button": [ + -0.0010204920559343245, + -0.0003518144835505943, + 0.03501511781743227 + ], + "button_min_z_position": [ + 0.17940624058246607, + -0.3816189467906952, + 0.7691264748573303 + ], + "min_active_finger_to_button": 0.14712087343329347, + "closest_active_finger": [ + 0.037411779165267944, + -0.36537638306617737, + 0.8078773021697998 + ], + "closest_active_finger_button": [ + 0.17943127453327176, + -0.38162279129028315, + 0.7730768918991089 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14201949536800382, + 0.01624640822410578, + 0.03480041027069092 + ], + "min_contact_pad_to_button": 0.021242184271528283, + "closest_contact_pad": [ + 0.17940624058246607, + -0.38324775644725567, + 0.7903061200792942 + ], + "closest_contact_pad_button": [ + 0.17940624058246607, + -0.3816189467906952, + 0.7691264748573303 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0016288096565604815, + 0.021179645221963916 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 33, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4e873af7d561d783f082f9a8ff8ea9a722e37060dde71c7e51a82978a10ea5ac", + "visual_seed": 2163312954289327973, + "episode_index": 33, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_34_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0d199a2e49d853bcdff8a04a1a340e6c59582317 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_34_success.json @@ -0,0 +1,700 @@ +{ + "episode": 34, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3787967133981727, + -0.09270750598530691, + 1.1678906614082392 + ], + "current_z": 1.1678906614082392, + "required_z": 0.8611066868287004, + "initial_z": 0.7611066868287004, + "lift_margin": 0.30678397457953877, + "gripper_z": 1.157471391704665, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3749186092518919, + -0.09701066392443063, + 1.157471391704665 + ], + "object_minus_gripper": [ + 0.003878104146280814, + 0.004303157939123711, + 0.010419269703574097 + ], + "object_to_gripper_xy": 0.0057928283263397225, + "object_to_gripper_z": 0.010419269703574097, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3787967133981727, + -0.11580865531342711, + 1.1678906614082392 + ], + "finger_b": [ + 0.36841254239972443, + -0.09270750598530691, + 1.1678906614082392 + ], + "finger_midpoint": [ + 0.37360462789894855, + -0.10425808064936701, + 1.1678906614082392 + ], + "object_minus_finger_midpoint": [ + 0.005192085499224175, + 0.011550574664060093, + 0.0 + ], + "finger_gap": 0.02532773396111707, + "fingertip_max_gap": 0.0926253014459105, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01266386698055854, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1678906614082392, + "object_top_z": 1.2177290502465488, + "finger_top_clearance": 0.0498383888383096, + "fingertip_min_top_clearance": 0.014951516651492879, + "object_projection_between_fingers": 0.8319064726446544, + "object_to_finger_line_xy": 0.009471288874565763, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04881265072295525, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.5010373559143777, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 367, + "max_stable_success_frames": 367, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3383529079505277, + -0.32535381751456505, + 0.8515396098205614 + ], + "target_position": [ + 0.3315303903347945, + -0.32650740108048437, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006919357026527044, + "xy_threshold": 0.08, + "gripper_dist": 0.1843339844744937, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396098205614, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0753171739612724, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.085301651849422, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15285023458947622, + "release_required_pad_clearance": 0.052650825924711, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3604515509284189, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008097708225250244, + "max_z_decrease": 0.008097708225250244, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499823218101273, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008097708225250244, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02131343767172623, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008097708225250244, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008097756738924017, + "max_button_displacement": 0.12, + "button_start": [ + 0.1872303187847137, + -0.3827688694000244, + 0.7768088579177856 + ], + "button_final": [ + 0.1872303187847137, + -0.3827688694000244, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18734974044601635, + -0.383296360800419, + 0.8037740995041127 + ], + "closest_button": [ + 0.1872082203626632, + -0.3827699720859527, + 0.7687801122665405 + ], + "closest_ee_minus_button": [ + 0.00014152008335313604, + -0.0005263887144663082, + 0.03499398723757219 + ], + "button_min_z_position": [ + 0.18720228970050806, + -0.3827686011791229, + 0.7687111496925354 + ], + "min_active_finger_to_button": 0.14578049455298128, + "closest_active_finger": [ + 0.04653158038854599, + -0.3677852749824524, + 0.807917058467865 + ], + "closest_active_finger_button": [ + 0.18724112212657923, + -0.3827749490737915, + 0.7728729844093323 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14070954173803324, + 0.014989674091339111, + 0.035044074058532715 + ], + "min_contact_pad_to_button": 0.02131343767172623, + "closest_contact_pad": [ + 0.18720228970050806, + -0.3844264123271985, + 0.789960015252463 + ], + "closest_contact_pad_button": [ + 0.18720228970050806, + -0.3827686011791229, + 0.7687111496925354 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0016578111480755608, + 0.021248865559927554 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 34, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8cd8cd1d5127140ccee5e4eea0a3be5a662c1450e927c8d3d69deaab56f55659", + "visual_seed": 5478275213062371043, + "episode_index": 34, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_35_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_35_success.json new file mode 100644 index 0000000000000000000000000000000000000000..95f3c83687f58acb5b28a89c8d414c6dd92c7aa4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_35_success.json @@ -0,0 +1,700 @@ +{ + "episode": 35, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3802573691734538, + -0.09010144944746058, + 1.1670727797615625 + ], + "current_z": 1.1670727797615625, + "required_z": 0.8611067464333451, + "initial_z": 0.7611067464333451, + "lift_margin": 0.3059660333282175, + "gripper_z": 1.1566333737307044, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3760870755203962, + -0.0945434833168865, + 1.1566333737307044 + ], + "object_minus_gripper": [ + 0.0041702936530576, + 0.004442033869425918, + 0.010439406030858134 + ], + "object_to_gripper_xy": 0.006092865832254924, + "object_to_gripper_z": 0.010439406030858134, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3802573691734538, + -0.11347666445679187, + 1.1670727797615625 + ], + "finger_b": [ + 0.3697615163931449, + -0.09010144944746058, + 1.1670727797615625 + ], + "finger_midpoint": [ + 0.3750094427832994, + -0.10178905695212623, + 1.1670727797615625 + ], + "object_minus_finger_midpoint": [ + 0.005247926390154423, + 0.011687607504665645, + 0.0 + ], + "finger_gap": 0.025623497074333645, + "fingertip_max_gap": 0.09184070365558686, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012811748537166812, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1670727797615625, + "object_top_z": 1.216905595736684, + "finger_top_clearance": 0.04983281597512157, + "fingertip_min_top_clearance": 0.014949844792536436, + "object_projection_between_fingers": 0.8322128652929848, + "object_to_finger_line_xy": 0.009574915349543049, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04842035182779343, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7486868997962994, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 366, + "max_stable_success_frames": 366, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33290474442308077, + -0.32704153731970825, + 0.8515396108388338 + ], + "target_position": [ + 0.3240110726009635, + -0.3292606582210342, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009166345839767559, + "xy_threshold": 0.08, + "gripper_dist": 0.1867885484487571, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396108388338, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07533992684996495, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08512729987394106, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1554691372399145, + "release_required_pad_clearance": 0.05256364993697053, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.193826581605304, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00782090425491333, + "max_z_decrease": 0.00782090425491333, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035052627859195634, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00782090425491333, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021198888555665915, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00782090425491333, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007820924373791657, + "max_button_displacement": 0.12, + "button_start": [ + 0.1797109991312027, + -0.38552212715148915, + 0.7768088579177856 + ], + "button_final": [ + 0.1797109991312027, + -0.38552212715148915, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18050873109519144, + -0.3844980846955279, + 0.8070702479300969 + ], + "closest_button": [ + 0.1796988993883133, + -0.385525345802307, + 0.7720420360565186 + ], + "closest_ee_minus_button": [ + 0.0008098317068781502, + 0.0010272611067791426, + 0.0350282118735783 + ], + "button_min_z_position": [ + 0.17969372868537903, + -0.3855261802673339, + 0.7689879536628723 + ], + "min_active_finger_to_button": 0.14507450719950313, + "closest_active_finger": [ + 0.05323115736246109, + -0.4475088119506836, + 0.8077731728553772 + ], + "closest_active_finger_button": [ + 0.17972247302532196, + -0.3855278491973876, + 0.773061215877533 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12649131566286087, + -0.06198096275329601, + 0.03471195697784424 + ], + "min_contact_pad_to_button": 0.021198888555665915, + "closest_contact_pad": [ + 0.17969372868537903, + -0.3857392974005467, + 0.7901857709345415 + ], + "closest_contact_pad_button": [ + 0.17969372868537903, + -0.3855261802673339, + 0.7689879536628723 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00021311713321281456, + 0.02119781727166914 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 35, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3d0413ce69d0dd3ebb12beebd1da1facfa12330c07841f24dfaa188d6b7ad315", + "visual_seed": 3422984867256718675, + "episode_index": 35, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_36_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_36_success.json new file mode 100644 index 0000000000000000000000000000000000000000..06740c217abc701763bee60abb5503e7dd09b6c8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_36_success.json @@ -0,0 +1,700 @@ +{ + "episode": 36, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.38643508499582835, + -0.08265293963431763, + 1.1665333591293012 + ], + "current_z": 1.1665333591293012, + "required_z": 0.8611065676194107, + "initial_z": 0.7611065676194108, + "lift_margin": 0.3054267915098905, + "gripper_z": 1.156084150173248, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.38207822327700247, + -0.08707689962329336, + 1.156084150173248 + ], + "object_minus_gripper": [ + 0.004356861718825877, + 0.004423959988975726, + 0.01044920895605328 + ], + "object_to_gripper_xy": 0.006209159848242634, + "object_to_gripper_z": 0.01044920895605328, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.38643508499582835, + -0.10636588366785743, + 1.1665333591293012 + ], + "finger_b": [ + 0.3762629281100429, + -0.08265293963431763, + 1.1665333591293012 + ], + "finger_midpoint": [ + 0.38134900655293563, + -0.09450941165108753, + 1.1665333591293012 + ], + "object_minus_finger_midpoint": [ + 0.005086078442892716, + 0.011856472016769898, + 0.0 + ], + "finger_gap": 0.02580264502811335, + "fingertip_max_gap": 0.09187723004034556, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012901322514056675, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1665333591293012, + "object_top_z": 1.2163448114470556, + "finger_top_clearance": 0.04981145231775441, + "fingertip_min_top_clearance": 0.014943435695326357, + "object_projection_between_fingers": 0.8445833140794918, + "object_to_finger_line_xy": 0.009348335671409016, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048438615020172784, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8017315717015299, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 353, + "max_stable_success_frames": 353, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3371198180265909, + -0.32875245171168854, + 0.8515395958501981 + ], + "target_position": [ + 0.3307539335258154, + -0.3293559206604271, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006394424153065361, + "xy_threshold": 0.08, + "gripper_dist": 0.18297336776100398, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395958501981, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07515487254206339, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08687365490170061, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15209005418861588, + "release_required_pad_clearance": 0.05343682745085031, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.8875510936196036, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00796651840209961, + "max_z_decrease": 0.00796651840209961, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502586637407469, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00796651840209961, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021227269856182618, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00796651840209961, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007966539586747368, + "max_button_displacement": 0.12, + "button_start": [ + 0.1864538639783859, + -0.3856173753738402, + 0.7768088579177856 + ], + "button_final": [ + 0.1864538639783859, + -0.3856173753738402, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18576821589485684, + -0.3842418647172636, + 0.804125939575151 + ], + "closest_button": [ + 0.18643666803836823, + -0.3856166601181029, + 0.769133448600769 + ], + "closest_ee_minus_button": [ + -0.0006684521435113833, + 0.0013747954008392904, + 0.03499249097438195 + ], + "button_min_z_position": [ + 0.1864355057477951, + -0.3856166601181029, + 0.768842339515686 + ], + "min_active_finger_to_button": 0.14603572623150426, + "closest_active_finger": [ + 0.05821618437767029, + -0.44592320919036865, + 0.8082015514373779 + ], + "closest_active_finger_button": [ + 0.18646681308746338, + -0.38562479615211476, + 0.7729551196098328 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1282506287097931, + -0.060298413038253895, + 0.035246431827545166 + ], + "min_contact_pad_to_button": 0.021227269856182618, + "closest_contact_pad": [ + 0.1864355057477951, + -0.3856166601181029, + 0.7900696093718687 + ], + "closest_contact_pad_button": [ + 0.1864355057477951, + -0.3856166601181029, + 0.768842339515686 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021227269856182618 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 36, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "270c7bc34edd5de50abbd18557f5eeed813ae0cc9878f8717bec1f1ff5691d22", + "visual_seed": 5101277977278450364, + "episode_index": 36, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_37_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_37_success.json new file mode 100644 index 0000000000000000000000000000000000000000..33a2b3c17e063af1715464f27c24284e71c105cd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_37_success.json @@ -0,0 +1,700 @@ +{ + "episode": 37, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3812434970031535, + -0.09025894674259521, + 1.1682530232379387 + ], + "current_z": 1.1682530232379387, + "required_z": 0.8611066868287004, + "initial_z": 0.7611066868287004, + "lift_margin": 0.3071463364092383, + "gripper_z": 1.1577835026729888, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37710515339952616, + -0.09473780588699775, + 1.1577835026729888 + ], + "object_minus_gripper": [ + 0.004138343603627359, + 0.004478859144402533, + 0.010469520564949875 + ], + "object_to_gripper_xy": 0.006098037964549062, + "object_to_gripper_z": 0.010469520564949875, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3812434970031535, + -0.11355836022893988, + 1.1682530232379387 + ], + "finger_b": [ + 0.3706214375800355, + -0.09025894674259521, + 1.1682530232379387 + ], + "finger_midpoint": [ + 0.3759324672915945, + -0.10190865348576755, + 1.1682530232379387 + ], + "object_minus_finger_midpoint": [ + 0.005311029711559001, + 0.011649706743172339, + 0.0 + ], + "finger_gap": 0.025606460419119032, + "fingertip_max_gap": 0.09144415518480295, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012803230209559521, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1682530232379387, + "object_top_z": 1.218062139478343, + "finger_top_clearance": 0.049809116240404405, + "fingertip_min_top_clearance": 0.01494273487212132, + "object_projection_between_fingers": 0.827924772204505, + "object_to_finger_line_xy": 0.009665051339581628, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04822207759240148, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3899123847026886, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 369, + "max_stable_success_frames": 369, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3405531484583964, + -0.32919193788572493, + 0.8515395816985957 + ], + "target_position": [ + 0.3314271843064443, + -0.33164216498061666, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009449171102232009, + "xy_threshold": 0.08, + "gripper_dist": 0.18353212638044175, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395816985957, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07544613238360265, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08610270307552041, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1520863183150015, + "release_required_pad_clearance": 0.05305135153776021, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1329646846260824, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00802236795425415, + "max_z_decrease": 0.00802236795425415, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03505405187801032, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00802236795425415, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02120753338114747, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 119, + "max_z_decrease_with_contact_point": 0.00802236795425415, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0080223981462978, + "max_button_displacement": 0.12, + "button_start": [ + 0.1871271133422851, + -0.3879036307334899, + 0.7768088579177856 + ], + "button_final": [ + 0.1871271133422851, + -0.3879036307334899, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18823963240339595, + -0.38699500572210765, + 0.8038917239694211 + ], + "closest_button": [ + 0.18710708618164054, + -0.38790723681449885, + 0.7688678503036499 + ], + "closest_ee_minus_button": [ + 0.0011325462217554039, + 0.0009122310923911914, + 0.0350238736657712 + ], + "button_min_z_position": [ + 0.18710575997829432, + -0.3879089653491973, + 0.7687864899635315 + ], + "min_active_finger_to_button": 0.1445525734772691, + "closest_active_finger": [ + 0.0621318519115448, + -0.4516142010688782, + 0.8078678250312805 + ], + "closest_active_finger_button": [ + 0.18713948130607597, + -0.38790941238403315, + 0.7730793356895447 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12500762939453117, + -0.06370478868484503, + 0.03478848934173584 + ], + "min_contact_pad_to_button": 0.02120753338114747, + "closest_contact_pad": [ + 0.18710708618164054, + -0.38802111429957686, + 0.7900750779402571 + ], + "closest_contact_pad_button": [ + 0.18710708618164054, + -0.38790723681449885, + 0.7688678503036499 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00011387748507801776, + 0.021207227636607207 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 37, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "432fde8a5d2d8a8a92bbae685b950b41f1f25aa1733497a907837e35da43763a", + "visual_seed": 7653580218205161078, + "episode_index": 37, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_38_success.json new file mode 100644 index 0000000000000000000000000000000000000000..18ae5d9e3ca19bde5024b1ef815a1ccbca7fcef4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_38_success.json @@ -0,0 +1,700 @@ +{ + "episode": 38, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3859017581927323, + -0.08611269021058587, + 1.1670722236295714 + ], + "current_z": 1.1670722236295714, + "required_z": 0.861106448410121, + "initial_z": 0.761106448410121, + "lift_margin": 0.30596577521945045, + "gripper_z": 1.156585979554417, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3819975930834667, + -0.09040807692921647, + 1.156585979554417 + ], + "object_minus_gripper": [ + 0.0039041651092656116, + 0.004295386718630598, + 0.010486244075154305 + ], + "object_to_gripper_xy": 0.005804554441384377, + "object_to_gripper_z": 0.010486244075154305, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3859017581927323, + -0.10928984053122819, + 1.1670722236295714 + ], + "finger_b": [ + 0.3756082627411071, + -0.08611269021058587, + 1.1670722236295714 + ], + "finger_midpoint": [ + 0.38075501046691973, + -0.09770126537090704, + 1.1670722236295714 + ], + "object_minus_finger_midpoint": [ + 0.005146747725812584, + 0.011588575160321163, + 0.0 + ], + "finger_gap": 0.025360132996462757, + "fingertip_max_gap": 0.09266513721117328, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012680066498231375, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1670722236295714, + "object_top_z": 1.2169247519183213, + "finger_top_clearance": 0.049852528288749864, + "fingertip_min_top_clearance": 0.014955758486624959, + "object_projection_between_fingers": 0.8352510329453341, + "object_to_finger_line_xy": 0.009407438495706733, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04883256860558664, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.4206275851387558, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 366, + "max_stable_success_frames": 366, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.34096400482205613, + -0.32640244956015796, + 0.8515396122810762 + ], + "target_position": [ + 0.33265369407869283, + -0.32826291251274975, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008516019436874607, + "xy_threshold": 0.08, + "gripper_dist": 0.1864043026199249, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396122810762, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07530256219208681, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08710908574989028, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15509397562990412, + "release_required_pad_clearance": 0.05355454287494514, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.1203428553679187, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 160, + "max_placed_release_frames": 160 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008079230785369873, + "max_z_decrease": 0.008079230785369873, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035079868677179986, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008079230785369873, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021379116354437108, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008079230785369873, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008079254048702031, + "max_button_displacement": 0.12, + "button_start": [ + 0.1883536130189895, + -0.3845243752002716, + 0.7768088579177856 + ], + "button_final": [ + 0.1883536130189895, + -0.3845243752002716, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18629248294306347, + -0.3856934947312597, + 0.8078860365445513 + ], + "closest_button": [ + 0.18836584687232963, + -0.3845322430133819, + 0.7728867530822754 + ], + "closest_ee_minus_button": [ + -0.0020733639292661588, + -0.001161251717877787, + 0.034999283462275876 + ], + "button_min_z_position": [ + 0.1883342713117599, + -0.3845230340957641, + 0.7687296271324158 + ], + "min_active_finger_to_button": 0.1482909591433306, + "closest_active_finger": [ + 0.04512988030910492, + -0.3690933883190155, + 0.8080337047576904 + ], + "closest_active_finger_button": [ + 0.18836584687232963, + -0.3845322430133819, + 0.7728867530822754 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1432359665632247, + 0.0154388546943664, + 0.03514695167541504 + ], + "min_contact_pad_to_button": 0.021379116354437108, + "closest_contact_pad": [ + 0.1883342713117599, + -0.38701651954993693, + 0.7899628357073436 + ], + "closest_contact_pad_button": [ + 0.1883342713117599, + -0.3845230340957641, + 0.7687296271324158 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002493485454172828, + 0.02123320857492783 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 38, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c774c90e57770da25c10302587f26ad9707e59d7bb30ba274b9603f041dabefc", + "visual_seed": 4005785856614901744, + "episode_index": 38, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_39_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e75cc1e20bd5b5e2fe8662c485981f1bc99e2f6e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_39_success.json @@ -0,0 +1,700 @@ +{ + "episode": 39, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.37963009607412007, + -0.09108459384245003, + 1.1662207550938883 + ], + "current_z": 1.1662207550938883, + "required_z": 0.861106746433345, + "initial_z": 0.761106746433345, + "lift_margin": 0.3051140086605434, + "gripper_z": 1.1558588260082128, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37555908544951033, + -0.09545722953966902, + 1.1558588260082128 + ], + "object_minus_gripper": [ + 0.004071010624609739, + 0.004372635697218991, + 0.01036192908567557 + ], + "object_to_gripper_xy": 0.00597436778632511, + "object_to_gripper_z": 0.01036192908567557, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.37963009607412007, + -0.1144150589071459, + 1.1662207550938883 + ], + "finger_b": [ + 0.36926763785639594, + -0.09108459384245003, + 1.1662207550938883 + ], + "finger_midpoint": [ + 0.37444886696525803, + -0.10274982637479796, + 1.1662207550938883 + ], + "object_minus_finger_midpoint": [ + 0.00518122910886204, + 0.011665232532347927, + 0.0 + ], + "finger_gap": 0.02552824201642316, + "fingertip_max_gap": 0.09191642821832804, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012764121008211563, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1662207550938883, + "object_top_z": 1.2160361879975952, + "finger_top_clearance": 0.049815432903706824, + "fingertip_min_top_clearance": 0.014944629871112013, + "object_projection_between_fingers": 0.8352278653963536, + "object_to_finger_line_xy": 0.009470333651547619, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048458214109164024, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8411800603366906, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 365, + "max_stable_success_frames": 365, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3375857874983987, + -0.33252609862412985, + 0.8515395613012365 + ], + "target_position": [ + 0.3288570574804188, + -0.33477532270788035, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009013863583708483, + "xy_threshold": 0.08, + "gripper_dist": 0.18794850256603735, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395613012365, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07583229380222778, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08668922532961292, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15543873506840974, + "release_required_pad_clearance": 0.05334461266480646, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.705891407141908, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007916867733001709, + "max_z_decrease": 0.007916867733001709, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035041569597795245, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007916867733001709, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021273252172105076, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 119, + "max_z_decrease_with_contact_point": 0.007916867733001709, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00791689049752094, + "max_button_displacement": 0.12, + "button_start": [ + 0.18455699086189264, + -0.3910367786884308, + 0.7768088579177856 + ], + "button_final": [ + 0.18455699086189264, + -0.3910367786884308, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18375697944839514, + -0.3922942340886659, + 0.8042065970562047 + ], + "closest_button": [ + 0.1845386922359466, + -0.3910398483276367, + 0.7691962122917175 + ], + "closest_ee_minus_button": [ + -0.0007817127875514585, + -0.0012543857610292086, + 0.035010384764487146 + ], + "button_min_z_position": [ + 0.184538260102272, + -0.3910398781299591, + 0.7688919901847839 + ], + "min_active_finger_to_button": 0.14655747215577064, + "closest_active_finger": [ + 0.042875245213508606, + -0.377101868391037, + 0.8079261183738708 + ], + "closest_active_finger_button": [ + 0.18456758558750147, + -0.3910427391529083, + 0.7731694579124451 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14169234037399286, + 0.013940870761871338, + 0.03475666046142578 + ], + "min_contact_pad_to_button": 0.021273252172105076, + "closest_contact_pad": [ + 0.184538260102272, + -0.39340021426766336, + 0.7900338933936963 + ], + "closest_contact_pad_button": [ + 0.184538260102272, + -0.3910398781299591, + 0.7688919901847839 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0023603361377042553, + 0.021141903208912405 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 39, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0d3a586d20492bf1fa53368bc9565e52b30fd7deab5f8e7a694c11158b8961c1", + "visual_seed": 2923886580898727581, + "episode_index": 39, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_3_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_3_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3f01067a4d2afed83be2333a4c8ab1a39e1d62c9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_3_success.json @@ -0,0 +1,700 @@ +{ + "episode": 3, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3789773764845218, + -0.08898161638805076, + 1.1672566104161297 + ], + "current_z": 1.1672566104161297, + "required_z": 0.8611068656426346, + "initial_z": 0.7611068656426346, + "lift_margin": 0.3061497447734951, + "gripper_z": 1.1567563478960232, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3750538864016627, + -0.09313569812585228, + 1.1567563478960232 + ], + "object_minus_gripper": [ + 0.003923490082859082, + 0.004154081737801518, + 0.010500262520106496 + ], + "object_to_gripper_xy": 0.005714032684070826, + "object_to_gripper_z": 0.010500262520106496, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3789773764845218, + -0.11242506134680473, + 1.1672566104161297 + ], + "finger_b": [ + 0.3692401510192505, + -0.08898161638805076, + 1.1672566104161297 + ], + "finger_midpoint": [ + 0.3741087637518862, + -0.10070333886742774, + 1.1672566104161297 + ], + "object_minus_finger_midpoint": [ + 0.004868612732635613, + 0.011721722479376986, + 0.0 + ], + "finger_gap": 0.025385205756417548, + "fingertip_max_gap": 0.09241626662167604, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012692602878208763, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1672566104161297, + "object_top_z": 1.2169857097608103, + "finger_top_clearance": 0.049729099344680616, + "fingertip_min_top_clearance": 0.01491872980340415, + "object_projection_between_fingers": 0.8528673433724993, + "object_to_finger_line_xy": 0.008992407287790289, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04870813331083802, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.415426570956207, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 357, + "max_stable_success_frames": 357, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3313609911083669, + -0.33372681144061855, + 0.8515395846699786 + ], + "target_position": [ + 0.32493451078472413, + -0.3346137347771423, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0064873941112775285, + "xy_threshold": 0.08, + "gripper_dist": 0.1855767893635989, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395846699786, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07573130887787154, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08738576135200941, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15312271378670675, + "release_required_pad_clearance": 0.05369288067600471, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.3952595129360676, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007766306400299072, + "max_z_decrease": 0.007766306400299072, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502895738396435, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007766306400299072, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02141925155083654, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 119, + "max_z_decrease_with_contact_point": 0.007766306400299072, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007766332305100104, + "max_button_displacement": 0.12, + "button_start": [ + 0.18063443899154663, + -0.3908751904964447, + 0.7768088579177856 + ], + "button_final": [ + 0.18063443899154663, + -0.3908751904964447, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18136052057234262, + -0.39223718250885276, + 0.8040371212333174 + ], + "closest_button": [ + 0.1806144267320633, + -0.39087656140327454, + 0.7690425515174866 + ], + "closest_ee_minus_button": [ + 0.0007460938402793216, + -0.0013606211055782191, + 0.034994569715830814 + ], + "button_min_z_position": [ + 0.1806144267320633, + -0.39087656140327454, + 0.7690425515174866 + ], + "min_active_finger_to_button": 0.14510636381925457, + "closest_active_finger": [ + 0.04087832570075989, + -0.3739473223686218, + 0.8083803057670593 + ], + "closest_active_finger_button": [ + 0.18064510822296143, + -0.3908812701702118, + 0.7732470631599426 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13976678252220154, + 0.016933947801589966, + 0.0351332426071167 + ], + "min_contact_pad_to_button": 0.02141925155083654, + "closest_contact_pad": [ + 0.1806144267320633, + -0.3936198183450324, + 0.7902854062773702 + ], + "closest_contact_pad_button": [ + 0.1806144267320633, + -0.39087656140327454, + 0.7690425515174866 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0027432569417578656, + 0.021242854759883634 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 3, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a11ea375f9e960d2cb6950fc1f5ab42ded20f1b721a50a329368f79fa6b14fda", + "visual_seed": 3126649383870653140, + "episode_index": 3, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_40_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_40_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8553b3ae73b3e05d02c99779882fac19f90ec7e6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_40_success.json @@ -0,0 +1,700 @@ +{ + "episode": 40, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.38428092144062126, + -0.08326440231150609, + 1.1637198331787746 + ], + "current_z": 1.1637198331787746, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.30261332516400863, + "gripper_z": 1.1532707909061282, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3801372935341383, + -0.08768443349052905, + 1.1532707909061282 + ], + "object_minus_gripper": [ + 0.004143627906482983, + 0.004420031179022968, + 0.010449042272646425 + ], + "object_to_gripper_xy": 0.006058574737586367, + "object_to_gripper_z": 0.010449042272646425, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.38428092144062126, + -0.10675583024568669, + 1.1637198331787746 + ], + "finger_b": [ + 0.3740026893968748, + -0.08326440231150609, + 1.1637198331787746 + ], + "finger_midpoint": [ + 0.37914180541874803, + -0.09501011627859639, + 1.1637198331787746 + ], + "object_minus_finger_midpoint": [ + 0.005139116021873225, + 0.011745713967090302, + 0.0 + ], + "finger_gap": 0.025641553001561686, + "fingertip_max_gap": 0.09198357525226189, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012820776500780843, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1637198331787746, + "object_top_z": 1.2134718237303, + "finger_top_clearance": 0.04975199055152535, + "fingertip_min_top_clearance": 0.014925597165457605, + "object_projection_between_fingers": 0.8393250452406358, + "object_to_finger_line_xy": 0.009416369879458968, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04849178762613095, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9594202404728713, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 355, + "max_stable_success_frames": 355, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33200336325870144, + -0.3305014030754418, + 0.8515396074974042 + ], + "target_position": [ + 0.3241142074865037, + -0.3321262467385819, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008054743678581415, + "xy_threshold": 0.08, + "gripper_dist": 0.18348439793017876, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396074974042, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07545871493155028, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08571542650419471, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.151808225094731, + "release_required_pad_clearance": 0.05285771325209736, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7579516408442781, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008121669292449951, + "max_z_decrease": 0.008121669292449951, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503977410735703, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008121669292449951, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021158206985412945, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008121669292449951, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008121678366474943, + "max_button_displacement": 0.12, + "button_start": [ + 0.1798141300678253, + -0.3883877098560333, + 0.7768088579177856 + ], + "button_final": [ + 0.1798141300678253, + -0.3883877098560333, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18118187974891412, + -0.3890681353720017, + 0.8036933410711447 + ], + "closest_button": [ + 0.17981235682964322, + -0.3883756995201111, + 0.7686871886253357 + ], + "closest_ee_minus_button": [ + 0.0013695229192708935, + -0.0006924358518906049, + 0.03500615244580896 + ], + "button_min_z_position": [ + 0.17981235682964322, + -0.3883756995201111, + 0.7686871886253357 + ], + "min_active_finger_to_button": 0.14445589780822615, + "closest_active_finger": [ + 0.04028534144163132, + -0.3743254244327545, + 0.8079584240913391 + ], + "closest_active_finger_button": [ + 0.17982245981693262, + -0.38839551806449885, + 0.7733328342437744 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1395371183753013, + 0.01407009363174433, + 0.0346255898475647 + ], + "min_contact_pad_to_button": 0.021158206985412945, + "closest_contact_pad": [ + 0.17981235682964322, + -0.39012899999824124, + 0.7897726257863472 + ], + "closest_contact_pad_button": [ + 0.17981235682964322, + -0.3883756995201111, + 0.7686871886253357 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0017533004781301598, + 0.021085437161011522 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 40, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "bf78deae73f6b2c4553d474122256ff354b0e6f4c47d3ce46f3d48f230513388", + "visual_seed": 267432407866954767, + "episode_index": 40, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_41_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_41_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ee12c3e56a6b1aa39a8abce77ac63a1bada95857 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_41_success.json @@ -0,0 +1,700 @@ +{ + "episode": 41, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.38563436704095416, + -0.08479336048387122, + 1.1683511277289775 + ], + "current_z": 1.1683511277289775, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.3072446197142116, + "gripper_z": 1.1578931005684943, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.38157693339582466, + -0.08921978837742843, + 1.1578931005684943 + ], + "object_minus_gripper": [ + 0.0040574336451295046, + 0.004426427893557211, + 0.010458027160483274 + ], + "object_to_gripper_xy": 0.006004667491334572, + "object_to_gripper_z": 0.010458027160483274, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.38563436704095416, + -0.10809136586186012, + 1.1683511277289775 + ], + "finger_b": [ + 0.3751588754408058, + -0.08479336048387122, + 1.1683511277289775 + ], + "finger_midpoint": [ + 0.38039662124088, + -0.09644236317286567, + 1.1683511277289775 + ], + "object_minus_finger_midpoint": [ + 0.0052377458000741894, + 0.01164900268899445, + 0.0 + ], + "finger_gap": 0.025544725069132745, + "fingertip_max_gap": 0.09206116866627975, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012772362534566373, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1683511277289775, + "object_top_z": 1.2181723880311175, + "finger_top_clearance": 0.04982126030213996, + "fingertip_min_top_clearance": 0.01494637809064202, + "object_projection_between_fingers": 0.8318308379495251, + "object_to_finger_line_xy": 0.00955414704902204, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04853058433313988, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.035271902804025, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 370, + "max_stable_success_frames": 370, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3370431011804589, + -0.32693121777091716, + 0.8515395109797081 + ], + "target_position": [ + 0.32911338845545324, + -0.32888782417180207, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008167536501852944, + "xy_threshold": 0.08, + "gripper_dist": 0.18420618074717143, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395109797081, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07583671656811694, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08885856815327807, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15187193941942492, + "release_required_pad_clearance": 0.05442928407663904, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.8857924665575956, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007969319820404053, + "max_z_decrease": 0.007969319820404053, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035002539515019845, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007969319820404053, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021297075149879368, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007969319820404053, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007969342567885247, + "max_button_displacement": 0.12, + "button_start": [ + 0.1848133206367492, + -0.38514927029609675, + 0.7768088579177856 + ], + "button_final": [ + 0.1848133206367492, + -0.38514927029609675, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18401983976915892, + -0.38536763429659254, + 0.8058036601780928 + ], + "closest_button": [ + 0.18479946255683893, + -0.3851493597030639, + 0.7708104848861694 + ], + "closest_ee_minus_button": [ + -0.0007796227876800121, + -0.00021827459352863343, + 0.03499317529192336 + ], + "button_min_z_position": [ + 0.1847942918539047, + -0.3851499557495116, + 0.7688395380973816 + ], + "min_active_finger_to_button": 0.14694440894751962, + "closest_active_finger": [ + 0.04319380223751068, + -0.3679496645927429, + 0.8081368803977966 + ], + "closest_active_finger_button": [ + 0.18482440710067743, + -0.38515692949295033, + 0.7729610204696655 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14163060486316675, + 0.01720726490020741, + 0.035175859928131104 + ], + "min_contact_pad_to_button": 0.021297075149879368, + "closest_contact_pad": [ + 0.1847942918539047, + -0.3867294359092888, + 0.7900779620587889 + ], + "closest_contact_pad_button": [ + 0.1847942918539047, + -0.3851499557495116, + 0.7688395380973816 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0015794801597772135, + 0.021238423961407293 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 41, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8702aca7d09483081fce43b2ff696c6cf0c9ab0d5febf09f47e282c90c9abbd3", + "visual_seed": 8832412567374483045, + "episode_index": 41, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_42_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_42_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3e2848fc5dd9943465485ba45718e26e6e6cde5d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_42_success.json @@ -0,0 +1,700 @@ +{ + "episode": 42, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.38241708129005386, + -0.09017058895737595, + 1.164484823590358 + ], + "current_z": 1.164484823590358, + "required_z": 0.8611067464333453, + "initial_z": 0.7611067464333453, + "lift_margin": 0.3033780771570127, + "gripper_z": 1.154003259408335, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3783883885016848, + -0.09451353772226477, + 1.154003259408335 + ], + "object_minus_gripper": [ + 0.004028692788369037, + 0.004342948764888818, + 0.010481564182023062 + ], + "object_to_gripper_xy": 0.005923813767962832, + "object_to_gripper_z": 0.010481564182023062, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.38241708129005386, + -0.11354524975845083, + 1.164484823590358 + ], + "finger_b": [ + 0.3721962746582762, + -0.09017058895737595, + 1.164484823590358 + ], + "finger_midpoint": [ + 0.37730667797416506, + -0.10185791935791338, + 1.164484823590358 + ], + "object_minus_finger_midpoint": [ + 0.005110403315888801, + 0.011687330400537432, + 0.0 + ], + "finger_gap": 0.025511559257903008, + "fingertip_max_gap": 0.09217993913790043, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012755779628951486, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.164484823590358, + "object_top_z": 1.2142765416844077, + "finger_top_clearance": 0.0497917180940497, + "fingertip_min_top_clearance": 0.014937515428214908, + "object_projection_between_fingers": 0.8394921279332929, + "object_to_finger_line_xy": 0.009364691735067912, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04858996956895022, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.111531512508711, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 361, + "max_stable_success_frames": 361, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3332904033844594, + -0.32666963945955263, + 0.8515395675006642 + ], + "target_position": [ + 0.32572787987343366, + -0.32816183986845643, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0077083347044060125, + "xy_threshold": 0.08, + "gripper_dist": 0.18461881524413298, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395675006642, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07539984921110901, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0867621230671796, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15298182671653004, + "release_required_pad_clearance": 0.053381061533589805, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.777788910444757, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007938385009765625, + "max_z_decrease": 0.007938385009765625, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035047153762917865, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007938385009765625, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021213185988630673, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007938385009765625, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007938408313732081, + "max_button_displacement": 0.12, + "button_start": [ + 0.1814278066158294, + -0.3844232857227325, + 0.7768088579177856 + ], + "button_final": [ + 0.1814278066158294, + -0.3844232857227325, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18239946989120523, + -0.3841204378415548, + 0.8047789765202772 + ], + "closest_button": [ + 0.18140985071659083, + -0.3844269216060638, + 0.7697471380233765 + ], + "closest_ee_minus_button": [ + 0.0009896191746144034, + 0.0003064837645089802, + 0.035031838496900725 + ], + "button_min_z_position": [ + 0.18140901625156397, + -0.38442739844322193, + 0.76887047290802 + ], + "min_active_finger_to_button": 0.14500566262461762, + "closest_active_finger": [ + 0.055641867220401764, + -0.4476374387741089, + 0.8077037930488586 + ], + "closest_active_finger_button": [ + 0.18144074082374567, + -0.3844293653964996, + 0.7729759216308594 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1257988736033439, + -0.06320807337760931, + 0.03472787141799927 + ], + "min_contact_pad_to_button": 0.021213185988630673, + "closest_contact_pad": [ + 0.18140901625156397, + -0.38526836436268863, + 0.790066982906379 + ], + "closest_contact_pad_button": [ + 0.18140901625156397, + -0.38442739844322193, + 0.76887047290802 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0008409659194666963, + 0.02119650999835898 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 42, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9ee41bc77dfa137a21c82422dee3c035abd7d2488fc745bbfacba067205f9b82", + "visual_seed": 7654709306506879412, + "episode_index": 42, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_43_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_43_success.json new file mode 100644 index 0000000000000000000000000000000000000000..96c78115aef3ca4fbb7bc90c7275d0c6402fa4c7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_43_success.json @@ -0,0 +1,700 @@ +{ + "episode": 43, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3849455630548212, + -0.08751951236241234, + 1.163825432448529 + ], + "current_z": 1.163825432448529, + "required_z": 0.8611066272240555, + "initial_z": 0.7611066272240555, + "lift_margin": 0.3027188052244736, + "gripper_z": 1.1533701434753043, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3807494798941567, + -0.09184342004465688, + 1.1533701434753043 + ], + "object_minus_gripper": [ + 0.004196083160664499, + 0.0043239076822445405, + 0.010455288973224786 + ], + "object_to_gripper_xy": 0.006025221285213144, + "object_to_gripper_z": 0.010455288973224786, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3849455630548212, + -0.11107349772847093, + 1.163825432448529 + ], + "finger_b": [ + 0.3748452563678816, + -0.08751951236241234, + 1.163825432448529 + ], + "finger_midpoint": [ + 0.3798954097113514, + -0.09929650504544163, + 1.163825432448529 + ], + "object_minus_finger_midpoint": [ + 0.00505015334346981, + 0.011776992683029286, + 0.0 + ], + "finger_gap": 0.02562823485522831, + "fingertip_max_gap": 0.09220591166260886, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012814117427614149, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.163825432448529, + "object_top_z": 1.2136777667594303, + "finger_top_clearance": 0.04985233431090119, + "fingertip_min_top_clearance": 0.01495570029327039, + "object_projection_between_fingers": 0.8446784443862843, + "object_to_finger_line_xy": 0.009282827211502108, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04860295583130443, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9685557722536906, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 358, + "max_stable_success_frames": 358, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33437635650182995, + -0.330427331201097, + 0.8515395971576682 + ], + "target_position": [ + 0.3272264555423379, + -0.3317819895512043, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007277099901475891, + "xy_threshold": 0.08, + "gripper_dist": 0.18452217144280567, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395971576682, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07563176845807415, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0871923890469956, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1524398333912798, + "release_required_pad_clearance": 0.0535961945234978, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.202902176547675, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008122920989990234, + "max_z_decrease": 0.008122920989990234, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034995747095913285, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008122920989990234, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021231596505314025, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008122920989990234, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008122930573354012, + "max_button_displacement": 0.12, + "button_start": [ + 0.18292638659477226, + -0.3880434334278106, + 0.7768088579177856 + ], + "button_final": [ + 0.18292638659477226, + -0.3880434334278106, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1827953815335841, + -0.3881117400740369, + 0.8036814055119811 + ], + "closest_button": [ + 0.18291465938091273, + -0.3880391716957091, + 0.7686859369277954 + ], + "closest_ee_minus_button": [ + -0.0001192778473286249, + -7.25683783278086e-05, + 0.034995468584185674 + ], + "button_min_z_position": [ + 0.18291465938091273, + -0.3880391716957091, + 0.7686859369277954 + ], + "min_active_finger_to_button": 0.1460269081415977, + "closest_active_finger": [ + 0.0420646145939827, + -0.37189388275146484, + 0.8077303171157837 + ], + "closest_active_finger_button": [ + 0.18293897807598108, + -0.3880482614040374, + 0.7728403806686401 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1408743634819984, + 0.016154378652572576, + 0.034889936447143555 + ], + "min_contact_pad_to_button": 0.021231596505314025, + "closest_contact_pad": [ + 0.18291465938091273, + -0.38930863839166063, + 0.7898795478629884 + ], + "closest_contact_pad_button": [ + 0.18291465938091273, + -0.3880391716957091, + 0.7686859369277954 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0012694666959515155, + 0.021193610935193008 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 43, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f9522ca14945aebc94c4993f56ef646e3500625733f004bd9d24637814c8253e", + "visual_seed": 6472708910638479618, + "episode_index": 43, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_44_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_44_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9396d42dd170b453fb172c34934377dde4126825 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_44_success.json @@ -0,0 +1,700 @@ +{ + "episode": 44, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.38635758437360246, + -0.08191574309041656, + 1.165929018054413 + ], + "current_z": 1.165929018054413, + "required_z": 0.8611066272240556, + "initial_z": 0.7611066272240556, + "lift_margin": 0.30482239083035745, + "gripper_z": 1.1553189170386093, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.38251959958057896, + -0.08604119430050158, + 1.1553189170386093 + ], + "object_minus_gripper": [ + 0.0038379847930234967, + 0.004125451210085021, + 0.01061010101580373 + ], + "object_to_gripper_xy": 0.005634667244680166, + "object_to_gripper_z": 0.01061010101580373, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.38635758437360246, + -0.10531245532610045, + 1.165929018054413 + ], + "finger_b": [ + 0.37667412172289916, + -0.08191574309041656, + 1.165929018054413 + ], + "finger_midpoint": [ + 0.3815158530482508, + -0.0936140992082585, + 1.165929018054413 + ], + "object_minus_finger_midpoint": [ + 0.00484173132535165, + 0.011698356117841938, + 0.0 + ], + "finger_gap": 0.025321445305253924, + "fingertip_max_gap": 0.09248985660116296, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012660722652626955, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.165929018054413, + "object_top_z": 1.2156888064910223, + "finger_top_clearance": 0.04975978843660922, + "fingertip_min_top_clearance": 0.014927936530982766, + "object_projection_between_fingers": 0.8537538701928264, + "object_to_finger_line_xy": 0.008947403528995609, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04874492830058148, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.4282567175483623, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 358, + "max_stable_success_frames": 358, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33522926433960676, + -0.33470439766707816, + 0.8515395672018933 + ], + "target_position": [ + 0.32930920814678954, + -0.33520349431244534, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0059410573795857435, + "xy_threshold": 0.08, + "gripper_dist": 0.18372656694562253, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395672018933, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07513531882118703, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08750210911354682, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15261828161363297, + "release_required_pad_clearance": 0.05375105455677341, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.511394872535552, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00781315565109253, + "max_z_decrease": 0.00781315565109253, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035006219912450544, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00781315565109253, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021226819754778158, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 119, + "max_z_decrease_with_contact_point": 0.00781315565109253, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007813174938525281, + "max_button_displacement": 0.12, + "button_start": [ + 0.18500913679599756, + -0.3914649486541747, + 0.7768088579177856 + ], + "button_final": [ + 0.18500913679599756, + -0.3914649486541747, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18556442668465994, + -0.3907036128427979, + 0.8039890000920711 + ], + "closest_button": [ + 0.1849918812513351, + -0.3914630413055419, + 0.7689957022666931 + ], + "closest_ee_minus_button": [ + 0.0005725454333248559, + 0.0007594284627439607, + 0.03499329782537797 + ], + "button_min_z_position": [ + 0.1849918812513351, + -0.3914630413055419, + 0.7689957022666931 + ], + "min_active_finger_to_button": 0.14520999650783298, + "closest_active_finger": [ + 0.05769474059343338, + -0.4516902565956116, + 0.8085266351699829 + ], + "closest_active_finger_button": [ + 0.1850222051143646, + -0.3914716839790343, + 0.7732083201408386 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12732746452093122, + -0.06021857261657726, + 0.03531831502914429 + ], + "min_contact_pad_to_button": 0.021226819754778158, + "closest_contact_pad": [ + 0.1849918812513351, + -0.3920924884271168, + 0.7902131873491194 + ], + "closest_contact_pad_button": [ + 0.1849918812513351, + -0.3914630413055419, + 0.7689957022666931 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.000629447121574922, + 0.02121748508242627 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 44, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b5f4fcddce7838bb92030e9aaeee5af0f8b250f63d965105d7f3e54434222f77", + "visual_seed": 7583945808997653832, + "episode_index": 44, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_45_success.json new file mode 100644 index 0000000000000000000000000000000000000000..59ad6bf93f43f3ef07ac5637061124279a617c74 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_45_success.json @@ -0,0 +1,700 @@ +{ + "episode": 45, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.38525915314891007, + -0.08266087648326206, + 1.1643082538730765 + ], + "current_z": 1.1643082538730765, + "required_z": 0.861106567619411, + "initial_z": 0.761106567619411, + "lift_margin": 0.3032016862536655, + "gripper_z": 1.1538779027152903, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3810113905973309, + -0.0870550256304003, + 1.1538779027152903 + ], + "object_minus_gripper": [ + 0.0042477625515791595, + 0.004394149147138232, + 0.010430351157786122 + ], + "object_to_gripper_xy": 0.0061116309952331015, + "object_to_gripper_z": 0.010430351157786122, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.38525915314891007, + -0.10644318713072871, + 1.1643082538730765 + ], + "finger_b": [ + 0.37531787538308387, + -0.08266087648326206, + 1.1643082538730765 + ], + "finger_midpoint": [ + 0.38028851426599697, + -0.0945520318069954, + 1.1643082538730765 + ], + "object_minus_finger_midpoint": [ + 0.004970638882913103, + 0.011891155323733332, + 0.0 + ], + "finger_gap": 0.02577648741294896, + "fingertip_max_gap": 0.09291010650349826, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012888243706474485, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1643082538730765, + "object_top_z": 1.2140718725893223, + "finger_top_clearance": 0.049763618716245794, + "fingertip_min_top_clearance": 0.014929085614873772, + "object_projection_between_fingers": 0.8512568596759443, + "object_to_finger_line_xy": 0.0091721789812549, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048955053251749134, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.8914849665486657, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 353, + "max_stable_success_frames": 353, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3322249147023558, + -0.32748120771196476, + 0.8515395700194529 + ], + "target_position": [ + 0.3260652532046638, + -0.32804758012289004, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006185645275475067, + "xy_threshold": 0.08, + "gripper_dist": 0.18178112073338099, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395700194529, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07528772168891229, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08770531539483532, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1504944491656474, + "release_required_pad_clearance": 0.053852657697417664, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.7147888790903987, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007922708988189697, + "max_z_decrease": 0.007922708988189697, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035093745853977336, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007922708988189697, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02113302102236428, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007922708988189697, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007922733025581807, + "max_button_displacement": 0.12, + "button_start": [ + 0.18176518380641937, + -0.38430905342102045, + 0.7768088579177856 + ], + "button_final": [ + 0.18176518380641937, + -0.38430905342102045, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18049352879969968, + -0.3833364287889913, + 0.8070798970221243 + ], + "closest_button": [ + 0.1817522794008255, + -0.38431209325790405, + 0.7720223069190979 + ], + "closest_ee_minus_button": [ + -0.0012587506011258187, + 0.0009756644689127292, + 0.03505759010302645 + ], + "button_min_z_position": [ + 0.18174597620964048, + -0.3843125104904174, + 0.768886148929596 + ], + "min_active_finger_to_button": 0.1468275232855505, + "closest_active_finger": [ + 0.05398041754961014, + -0.4478527009487152, + 0.8108388185501099 + ], + "closest_active_finger_button": [ + 0.18176817893981934, + -0.38431137800216675, + 0.7763263583183289 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1277877613902092, + -0.06354132294654846, + 0.034512460231781006 + ], + "min_contact_pad_to_button": 0.02113302102236428, + "closest_contact_pad": [ + 0.18174597620964048, + -0.38444541028240176, + 0.7900187520625983 + ], + "closest_contact_pad_button": [ + 0.18174597620964048, + -0.3843125104904174, + 0.768886148929596 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0001328997919843311, + 0.02113260313300236 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 45, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8a87be688be59cf4f9da7b8f1de8c21bfb3419efa005a931b79bf27d593e3aa8", + "visual_seed": 806261032991186590, + "episode_index": 45, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_46_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_46_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8271311eb36e8734bbee90a31a00d0856eb26e54 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_46_success.json @@ -0,0 +1,700 @@ +{ + "episode": 46, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3841617983217577, + -0.08265811275017831, + 1.1679807204608776 + ], + "current_z": 1.1679807204608776, + "required_z": 0.8611066272240556, + "initial_z": 0.7611066272240556, + "lift_margin": 0.306874093236822, + "gripper_z": 1.157590655284501, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3799904739375126, + -0.08713632645068413, + 1.157590655284501 + ], + "object_minus_gripper": [ + 0.0041713243842450565, + 0.004478213700505815, + 0.01039006517637664 + ], + "object_to_gripper_xy": 0.006119995511926082, + "object_to_gripper_z": 0.01039006517637664, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3841617983217577, + -0.1059599219875862, + 1.1679807204608776 + ], + "finger_b": [ + 0.37351838860268205, + -0.08265811275017831, + 1.1679807204608776 + ], + "finger_midpoint": [ + 0.37884009346221986, + -0.09430901736888225, + 1.1679807204608776 + ], + "object_minus_finger_midpoint": [ + 0.0053217048595378125, + 0.011650904618703939, + 0.0 + ], + "finger_gap": 0.025617503472912057, + "fingertip_max_gap": 0.09185543640119329, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012808751736456021, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1679807204608776, + "object_top_z": 1.2177784571721135, + "finger_top_clearance": 0.049797736711235885, + "fingertip_min_top_clearance": 0.014939321013370765, + "object_projection_between_fingers": 0.82738125538088, + "object_to_finger_line_xy": 0.00968129869375131, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048427718200596645, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7989900537278911, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 367, + "max_stable_success_frames": 367, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3387364293240554, + -0.32563009210999916, + 0.851539634908541 + ], + "target_position": [ + 0.3297687723991875, + -0.32782140217576716, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009231506406132604, + "xy_threshold": 0.08, + "gripper_dist": 0.1864131795212176, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539634908541, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07519471902786813, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0853833789602486, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15550040092414608, + "release_required_pad_clearance": 0.0526916894801243, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4387938162955577, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 159, + "max_placed_release_frames": 159 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00805896520614624, + "max_z_decrease": 0.00805896520614624, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035025162078134595, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00805896520614624, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02136347620016642, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00805896520614624, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008058998757921503, + "max_button_displacement": 0.12, + "button_start": [ + 0.18546870350837705, + -0.3840828537940978, + 0.7768088579177856 + ], + "button_final": [ + 0.18546870350837705, + -0.3840828537940978, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18645575047515178, + -0.38519343713202686, + 0.8041038587509872 + ], + "closest_button": [ + 0.185452327132225, + -0.38408324122428883, + 0.7691106796264648 + ], + "closest_ee_minus_button": [ + 0.0010034233429267736, + -0.001110195907738032, + 0.03499317912452238 + ], + "button_min_z_position": [ + 0.1854455024003982, + -0.3840812742710113, + 0.7687498927116394 + ], + "min_active_finger_to_button": 0.14491641571570493, + "closest_active_finger": [ + 0.045833274722099304, + -0.36810678243637085, + 0.8081632852554321 + ], + "closest_active_finger_button": [ + 0.185481920838356, + -0.3840901553630828, + 0.7728992104530334 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13964864611625669, + 0.015983372926711925, + 0.03526407480239868 + ], + "min_contact_pad_to_button": 0.02136347620016642, + "closest_contact_pad": [ + 0.1854455024003982, + -0.38646336500063766, + 0.789980148459296 + ], + "closest_contact_pad_button": [ + 0.1854455024003982, + -0.3840812742710113, + 0.7687498927116394 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0023820907296263627, + 0.02123025574765658 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 46, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "517334619d49f139572259785a22dd6f61328480c43e1a4cec1801c23f6ab114", + "visual_seed": 569168606067631684, + "episode_index": 46, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_47_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_47_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b1e12cb7aaf0226f409f63047ca45f62c8b69397 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_47_success.json @@ -0,0 +1,700 @@ +{ + "episode": 47, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3848848126489983, + -0.08760548479265232, + 1.166535833520884 + ], + "current_z": 1.166535833520884, + "required_z": 0.8611068060379897, + "initial_z": 0.7611068060379897, + "lift_margin": 0.30542902748289424, + "gripper_z": 1.156133649445043, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3806273724337046, + -0.09190281323399753, + 1.156133649445043 + ], + "object_minus_gripper": [ + 0.0042574402152937285, + 0.004297328441345213, + 0.010402184075841037 + ], + "object_to_gripper_xy": 0.006049200684354487, + "object_to_gripper_z": 0.010402184075841037, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3848848126489983, + -0.11133104181537343, + 1.166535833520884 + ], + "finger_b": [ + 0.3750019149552379, + -0.08760548479265232, + 1.166535833520884 + ], + "finger_midpoint": [ + 0.37994336380211813, + -0.09946826330401287, + 1.166535833520884 + ], + "object_minus_finger_midpoint": [ + 0.004941448846880192, + 0.011862778511360556, + 0.0 + ], + "finger_gap": 0.025701628797874396, + "fingertip_max_gap": 0.09329798062749042, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012850814398937187, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.166535833520884, + "object_top_z": 1.2164061001141602, + "finger_top_clearance": 0.0498702665932762, + "fingertip_min_top_clearance": 0.01496107997798286, + "object_projection_between_fingers": 0.8521411563240692, + "object_to_finger_line_xy": 0.009123050318212703, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049148990313745214, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.215451427388264, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 358, + "max_stable_success_frames": 358, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.337245785823277, + -0.3271557015802729, + 0.8515395845830193 + ], + "target_position": [ + 0.33030512683868696, + -0.3282658085997379, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007028875068959205, + "xy_threshold": 0.08, + "gripper_dist": 0.18449097188679234, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395845830193, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07543180140212033, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08932139691616352, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15268373492557435, + "release_required_pad_clearance": 0.05466069845808176, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 4.36405263450702, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00806128978729248, + "max_z_decrease": 0.00806128978729248, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035007147381533654, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00806128978729248, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021324235861944082, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00806128978729248, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008061324330743046, + "max_button_displacement": 0.12, + "button_start": [ + 0.18600505590438843, + -0.3845272660255432, + 0.7768088579177856 + ], + "button_final": [ + 0.18600505590438843, + -0.3845272660255432, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18514199663670994, + -0.3851674762983574, + 0.8056386376474478 + ], + "closest_button": [ + 0.18599064648151398, + -0.38452669978141785, + 0.7706476449966431 + ], + "closest_ee_minus_button": [ + -0.0008486498448040392, + -0.0006407765169395563, + 0.03499099265080474 + ], + "button_min_z_position": [ + 0.18598146736621857, + -0.3845265507698059, + 0.7687475681304932 + ], + "min_active_finger_to_button": 0.14694836836572567, + "closest_active_finger": [ + 0.04427079111337662, + -0.3682214617729187, + 0.8080307245254517 + ], + "closest_active_finger_button": [ + 0.1860167384147644, + -0.3845342397689819, + 0.7728767395019531 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1417459473013878, + 0.016312777996063177, + 0.035153985023498535 + ], + "min_contact_pad_to_button": 0.021324235861944082, + "closest_contact_pad": [ + 0.18598146736621857, + -0.3864587058714355, + 0.7899840888379694 + ], + "closest_contact_pad_button": [ + 0.18598146736621857, + -0.3845265507698059, + 0.7687475681304932 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0019321551016295846, + 0.02123652070747628 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 47, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6a020f955a82e6da978c8101c9b8b13b91f1f1dba133c4b850b566ab13a06874", + "visual_seed": 6670180105001773344, + "episode_index": 47, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_48_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_48_success.json new file mode 100644 index 0000000000000000000000000000000000000000..76e7ebe2ec80cfe41408f6604ab6091d037370f9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_48_success.json @@ -0,0 +1,700 @@ +{ + "episode": 48, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.38215110446546874, + -0.08790164563294574, + 1.1656573431237613 + ], + "current_z": 1.1656573431237613, + "required_z": 0.8611066272240557, + "initial_z": 0.7611066272240558, + "lift_margin": 0.3045507158997056, + "gripper_z": 1.1552011936714008, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3779183707882202, + -0.09224543578903883, + 1.1552011936714008 + ], + "object_minus_gripper": [ + 0.0042327336772485236, + 0.004343790156093097, + 0.010456149452360508 + ], + "object_to_gripper_xy": 0.006065026570649556, + "object_to_gripper_z": 0.010456149452360508, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.38215110446546874, + -0.11150020393835162, + 1.1656573431237613 + ], + "finger_b": [ + 0.37204292763712843, + -0.08790164563294574, + 1.1656573431237613 + ], + "finger_midpoint": [ + 0.3770970160512986, + -0.09970092478564868, + 1.1656573431237613 + ], + "object_minus_finger_midpoint": [ + 0.005054088414170155, + 0.011799279152702943, + 0.0 + ], + "finger_gap": 0.025672304004250128, + "fingertip_max_gap": 0.09213081458457864, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012836152002125064, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1656573431237613, + "object_top_z": 1.2154987148717284, + "finger_top_clearance": 0.0498413717479671, + "fingertip_min_top_clearance": 0.014952411524390129, + "object_projection_between_fingers": 0.8449699212830175, + "object_to_finger_line_xy": 0.00929166311700931, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04856540729228932, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.962810671453144, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 361, + "max_stable_success_frames": 361, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3392300291441389, + -0.32617136925574897, + 0.8515395560394571 + ], + "target_position": [ + 0.3318644769893956, + -0.32750049849741564, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007484513550344971, + "xy_threshold": 0.08, + "gripper_dist": 0.18530611813706338, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395560394571, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07521595938969569, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08587182041052303, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15422726262109254, + "release_required_pad_clearance": 0.05293591020526152, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9091295577470794, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 158, + "max_placed_release_frames": 158 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008022546768188477, + "max_z_decrease": 0.008022546768188477, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502592415483038, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008022546768188477, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021387731069066426, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008022546768188477, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008022564174773676, + "max_button_displacement": 0.12, + "button_start": [ + 0.1875644028186798, + -0.38376194238662714, + 0.7768088579177856 + ], + "button_final": [ + 0.1875644028186798, + -0.38376194238662714, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1872503601751192, + -0.38505498508454894, + 0.803932710370632 + ], + "closest_button": [ + 0.18754738569259644, + -0.38376024365425104, + 0.7689319849014282 + ], + "closest_ee_minus_button": [ + -0.00029702551747723405, + -0.0012947414302978966, + 0.03500072546920374 + ], + "button_min_z_position": [ + 0.18754781782627106, + -0.3837598860263824, + 0.7687863111495972 + ], + "min_active_finger_to_button": 0.14620644409879588, + "closest_active_finger": [ + 0.046716779470443726, + -0.36715635657310486, + 0.8083925843238831 + ], + "closest_active_finger_button": [ + 0.18757854402065277, + -0.3837681114673614, + 0.7729195356369019 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14086176455020905, + 0.016611754894256536, + 0.0354730486869812 + ], + "min_contact_pad_to_button": 0.021387731069066426, + "closest_contact_pad": [ + 0.18754781782627106, + -0.3864100027317222, + 0.790009221452635 + ], + "closest_contact_pad_button": [ + 0.18754781782627106, + -0.3837598860263824, + 0.7687863111495972 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0026501167053398222, + 0.0212229103030378 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 48, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d64ef318ff0ad7de1ff525e3ad52df8eef74b97d5469a5781303d7bd12116e2b", + "visual_seed": 8324281449470266040, + "episode_index": 48, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_49_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_49_success.json new file mode 100644 index 0000000000000000000000000000000000000000..10f6197f575c6d5455fa4468d0a97a3f7ecb7869 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_49_success.json @@ -0,0 +1,700 @@ +{ + "episode": 49, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.38223807640726604, + -0.08531501564383495, + 1.1653230922733409 + ], + "current_z": 1.1653230922733409, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 0.30421652465393, + "gripper_z": 1.1549660937184305, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37809440338131883, + -0.08966625117555117, + 1.1549660937184305 + ], + "object_minus_gripper": [ + 0.004143673025947203, + 0.004351235531716222, + 0.010356998554910346 + ], + "object_to_gripper_xy": 0.006008600236197462, + "object_to_gripper_z": 0.010356998554910346, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.38223807640726604, + -0.10880927499496473, + 1.1653230922733409 + ], + "finger_b": [ + 0.37206929814406536, + -0.08531501564383495, + 1.1653230922733409 + ], + "finger_midpoint": [ + 0.37715368727566567, + -0.09706214531939984, + 1.1653230922733409 + ], + "object_minus_finger_midpoint": [ + 0.005084389131600364, + 0.01174712967556489, + 0.0 + ], + "finger_gap": 0.025600474093740756, + "fingertip_max_gap": 0.09249617126263346, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01280023704687039, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1653230922733409, + "object_top_z": 1.2151151205933597, + "finger_top_clearance": 0.04979202832001883, + "fingertip_min_top_clearance": 0.014937608496005682, + "object_projection_between_fingers": 0.8422237830597304, + "object_to_finger_line_xy": 0.009332167557716445, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04874808563131673, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.4649856075394716, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 357, + "max_stable_success_frames": 357, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3340679775296922, + -0.3276002101690075, + 0.8515395950257244 + ], + "target_position": [ + 0.32719147143718286, + -0.3286872295516688, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006961892499787643, + "xy_threshold": 0.08, + "gripper_dist": 0.18384593749889327, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395950257244, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07576276355032763, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08906587460349051, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15143330257339102, + "release_required_pad_clearance": 0.05453293730174526, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 4.099318203272766, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007854461669921875, + "max_z_decrease": 0.007854461669921875, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499993411878004, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007854461669921875, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02124966179344895, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007854461669921875, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007854488252953776, + "max_button_displacement": 0.12, + "button_start": [ + 0.18289139866828907, + -0.38494870066642756, + 0.7768088579177856 + ], + "button_final": [ + 0.18289139866828907, + -0.38494870066642756, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18305247848676418, + -0.3842530069450671, + 0.8040190578462062 + ], + "closest_button": [ + 0.1828711479902267, + -0.38494917750358576, + 0.769026517868042 + ], + "closest_ee_minus_button": [ + 0.00018133049653748512, + 0.0006961705585186717, + 0.034992539978164205 + ], + "button_min_z_position": [ + 0.18287096917629236, + -0.3849491775035857, + 0.7689543962478638 + ], + "min_active_finger_to_button": 0.14552200873587565, + "closest_active_finger": [ + 0.05540589243173599, + -0.4456689655780792, + 0.8081695437431335 + ], + "closest_active_finger_button": [ + 0.18290445208549494, + -0.38495552539825434, + 0.7730319499969482 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12749855965375895, + -0.060713440179824885, + 0.0351375937461853 + ], + "min_contact_pad_to_button": 0.02124966179344895, + "closest_contact_pad": [ + 0.18287096917629236, + -0.38559671281747115, + 0.7901941896638374 + ], + "closest_contact_pad_button": [ + 0.18287096917629236, + -0.3849491775035857, + 0.7689543962478638 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00064753531388545, + 0.021239793415973596 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 49, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6485993f148f8a11e472f46779f3d421dde6339c082a0008ea53dd3d6400da15", + "visual_seed": 5186850434362494710, + "episode_index": 49, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_4_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_4_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ce6e7cdf2e2f29b61464f5a5fc7ea4355aa65769 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_4_success.json @@ -0,0 +1,700 @@ +{ + "episode": 4, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3818217963389534, + -0.08997563319284473, + 1.1672322937120228 + ], + "current_z": 1.1672322937120228, + "required_z": 0.8611066868287003, + "initial_z": 0.7611066868287003, + "lift_margin": 0.30612560688332247, + "gripper_z": 1.1567235013138848, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37795408206718906, + -0.09417223465188342, + 1.1567235013138848 + ], + "object_minus_gripper": [ + 0.0038677142717643553, + 0.00419660145903869, + 0.010508792398137956 + ], + "object_to_gripper_xy": 0.00570707258531161, + "object_to_gripper_z": 0.010508792398137956, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3818217963389534, + -0.11331590175879738, + 1.1672322937120228 + ], + "finger_b": [ + 0.3719182348346693, + -0.08997563319284473, + 1.1672322937120228 + ], + "finger_midpoint": [ + 0.3768700155868113, + -0.10164576747582105, + 1.1672322937120228 + ], + "object_minus_finger_midpoint": [ + 0.004951780752142088, + 0.011670134282976322, + 0.0 + ], + "finger_gap": 0.025354460499090414, + "fingertip_max_gap": 0.09240518957126817, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01267723024954521, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1672322937120228, + "object_top_z": 1.2171080094318911, + "finger_top_clearance": 0.049875715719868374, + "fingertip_min_top_clearance": 0.014962714715960512, + "object_projection_between_fingers": 0.8474282743770024, + "object_to_finger_line_xy": 0.00911680945755931, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04870259478563409, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.1867211908488136, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 365, + "max_stable_success_frames": 365, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33530326130434684, + -0.33298693931459655, + 0.8515394999537285 + ], + "target_position": [ + 0.3274941698324542, + -0.3347555381943323, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008006862782250527, + "xy_threshold": 0.08, + "gripper_dist": 0.18549731732086575, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515394999537285, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07551406700669978, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08757710634973341, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15368108121238572, + "release_required_pad_clearance": 0.05378855317486671, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.586326456010511, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007834553718566895, + "max_z_decrease": 0.007834553718566895, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502360028599923, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007834553718566895, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021257377552850076, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 119, + "max_z_decrease_with_contact_point": 0.007834553718566895, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00783457275560987, + "max_button_displacement": 0.12, + "button_start": [ + 0.183194100856781, + -0.3910169899463653, + 0.7768088579177856 + ], + "button_final": [ + 0.183194100856781, + -0.3910169899463653, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1830151464332711, + -0.3915953332474934, + 0.8074892381320192 + ], + "closest_button": [ + 0.1831831932067871, + -0.3910196721553802, + 0.7724707722663879 + ], + "closest_ee_minus_button": [ + -0.00016804677351600628, + -0.000575661092113211, + 0.03501846586563129 + ], + "button_min_z_position": [ + 0.1831771731376648, + -0.3910204172134399, + 0.7689743041992188 + ], + "min_active_finger_to_button": 0.14637371745167965, + "closest_active_finger": [ + 0.041846081614494324, + -0.3758111596107483, + 0.8080356121063232 + ], + "closest_active_finger_button": [ + 0.1832055151462555, + -0.3910225927829742, + 0.7732306122779846 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14135943353176117, + 0.015211433172225897, + 0.03480499982833862 + ], + "min_contact_pad_to_button": 0.021257377552850076, + "closest_contact_pad": [ + 0.1831771731376648, + -0.3928016767377792, + 0.7901569200653332 + ], + "closest_contact_pad_button": [ + 0.1831771731376648, + -0.3910204172134399, + 0.7689743041992188 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0017812595243393292, + 0.021182615866114474 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 4, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "191b92ef845537113124de6e8b316b2a96ac8ae13f519ff93aef477283a8d6f1", + "visual_seed": 370314911571430042, + "episode_index": 4, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_50_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_50_success.json new file mode 100644 index 0000000000000000000000000000000000000000..461e2904989a61acc69deadc0a406fa9dfa72eb1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_50_success.json @@ -0,0 +1,700 @@ +{ + "episode": 50, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3797706926860584, + -0.08627779848432984, + 1.1649080974007964 + ], + "current_z": 1.1649080974007964, + "required_z": 0.8611067464333451, + "initial_z": 0.7611067464333451, + "lift_margin": 0.3038013509674513, + "gripper_z": 1.1544140616949379, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3757226054493076, + -0.09047313006963699, + 1.1544140616949379 + ], + "object_minus_gripper": [ + 0.004048087236750819, + 0.0041953315853071466, + 0.010494035705858495 + ], + "object_to_gripper_xy": 0.005829907150806148, + "object_to_gripper_z": 0.010494035705858495, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3797706926860584, + -0.1097923937741281, + 1.1649080974007964 + ], + "finger_b": [ + 0.36994606084884324, + -0.08627779848432984, + 1.1649080974007964 + ], + "finger_midpoint": [ + 0.3748583767674508, + -0.09803509612922898, + 1.1649080974007964 + ], + "object_minus_finger_midpoint": [ + 0.004912315918607579, + 0.011757297644899134, + 0.0 + ], + "finger_gap": 0.025484496902623444, + "fingertip_max_gap": 0.09230856066440382, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012742248451311729, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1649080974007964, + "object_top_z": 1.2147161911902384, + "finger_top_clearance": 0.049808093789442065, + "fingertip_min_top_clearance": 0.014942428136832652, + "object_projection_between_fingers": 0.8513789104733358, + "object_to_finger_line_xy": 0.00906520707103302, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04865428033220191, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.1577076230354786, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 357, + "max_stable_success_frames": 357, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.335384215829748, + -0.32914765290148057, + 0.8515395808407279 + ], + "target_position": [ + 0.32861306262648554, + -0.3302346996044726, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006857855804589144, + "xy_threshold": 0.08, + "gripper_dist": 0.1815456629955758, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395808407279, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07582683409450856, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08918244858900225, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14903757770333295, + "release_required_pad_clearance": 0.054591224294501126, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 4.219955986715732, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008070945739746094, + "max_z_decrease": 0.008070945739746094, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035067306204464084, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008070945739746094, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02118245217312953, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008070945739746094, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008070959951619229, + "max_button_displacement": 0.12, + "button_start": [ + 0.18431298434734344, + -0.3864961564540863, + 0.7768088579177856 + ], + "button_final": [ + 0.18431298434734344, + -0.3864961564540863, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18476519000726765, + -0.38439005144326455, + 0.8037388229855135 + ], + "closest_button": [ + 0.18429784476757047, + -0.38649570941925043, + 0.7687379121780396 + ], + "closest_ee_minus_button": [ + 0.00046734523969718667, + 0.0021056579759858862, + 0.03500091080747392 + ], + "button_min_z_position": [ + 0.18429784476757047, + -0.38649570941925043, + 0.7687379121780396 + ], + "min_active_finger_to_button": 0.14459269001088745, + "closest_active_finger": [ + 0.058291882276535034, + -0.4482607841491699, + 0.8075655102729797 + ], + "closest_active_finger_button": [ + 0.18432436883449554, + -0.38650262355804443, + 0.7727978825569153 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1260324865579605, + -0.06175816059112549, + 0.03476762771606445 + ], + "min_contact_pad_to_button": 0.02118245217312953, + "closest_contact_pad": [ + 0.18429784476757047, + -0.38649570941925043, + 0.7899203643511691 + ], + "closest_contact_pad_button": [ + 0.18429784476757047, + -0.38649570941925043, + 0.7687379121780396 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02118245217312953 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 50, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "19a5046b378f0e8b412d2a784affad08fd88d4d4d0b98238e04776444df8b63a", + "visual_seed": 8409806445675659694, + "episode_index": 50, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_51_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_51_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8c95071c42e080f559a7038444e4a02c82ce7d52 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_51_success.json @@ -0,0 +1,700 @@ +{ + "episode": 51, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.38175007577993886, + -0.09201977482650918, + 1.1650819470567546 + ], + "current_z": 1.1650819470567546, + "required_z": 0.8611066868287004, + "initial_z": 0.7611066868287004, + "lift_margin": 0.3039752602280542, + "gripper_z": 1.154721398494775, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37768156429993216, + -0.09619848882237067, + 1.154721398494775 + ], + "object_minus_gripper": [ + 0.004068511480006698, + 0.004178713995861491, + 0.010360548561979543 + ], + "object_to_gripper_xy": 0.005832189667882467, + "object_to_gripper_z": 0.010360548561979543, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.38175007577993886, + -0.11563503304778397, + 1.1650819470567546 + ], + "finger_b": [ + 0.37206265765379065, + -0.09201977482650918, + 1.1650819470567546 + ], + "finger_midpoint": [ + 0.3769063667168647, + -0.10382740393714657, + 1.1650819470567546 + ], + "object_minus_finger_midpoint": [ + 0.004843709063074131, + 0.011807629110637388, + 0.0 + ], + "finger_gap": 0.025525016960000466, + "fingertip_max_gap": 0.09348881235460557, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012762508480000236, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1650819470567546, + "object_top_z": 1.2149233271411486, + "finger_top_clearance": 0.04984138008439398, + "fingertip_min_top_clearance": 0.014952414025318194, + "object_projection_between_fingers": 0.85595970190806, + "object_to_finger_line_xy": 0.0089626142425272, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04924440617730279, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.476452171177431, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 357, + "max_stable_success_frames": 357, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.331161280606206, + -0.3260009750752182, + 0.8515395656120971 + ], + "target_position": [ + 0.32493962662171155, + -0.3266484690431589, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006255255929320156, + "xy_threshold": 0.08, + "gripper_dist": 0.1816879603731638, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395656120971, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07588563155221029, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09047951428673877, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14892672107041965, + "release_required_pad_clearance": 0.055239757143369386, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 5.583660313544315, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007565438747406006, + "max_z_decrease": 0.007565438747406006, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03505194235396829, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007565438747406006, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02126832027228313, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007565438747406006, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007565463835628899, + "max_button_displacement": 0.12, + "button_start": [ + 0.18063955008983607, + -0.3829099237918854, + 0.7768088579177856 + ], + "button_final": [ + 0.18063955008983607, + -0.3829099237918854, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17858075750959843, + -0.3828476773803623, + 0.8077697507456746 + ], + "closest_button": [ + 0.1806295216083526, + -0.38291338086128235, + 0.772777795791626 + ], + "closest_ee_minus_button": [ + -0.00204876409875418, + 6.570348092005407e-05, + 0.03499195495404861 + ], + "button_min_z_position": [ + 0.18062017858028406, + -0.3829120099544525, + 0.7692434191703796 + ], + "min_active_finger_to_button": 0.14808542540193823, + "closest_active_finger": [ + 0.05048073083162308, + -0.44430941343307495, + 0.8080881237983704 + ], + "closest_active_finger_button": [ + 0.18064998090267176, + -0.3829164206981659, + 0.7732146382331848 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.13016925007104868, + -0.06139299273490906, + 0.03487348556518555 + ], + "min_contact_pad_to_button": 0.02126832027228313, + "closest_contact_pad": [ + 0.18062017858028406, + -0.384314939006389, + 0.7904654180696267 + ], + "closest_contact_pad_button": [ + 0.18062017858028406, + -0.3829120099544525, + 0.7692434191703796 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0014029290519365079, + 0.02122199889924703 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 51, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8cab52401ee322ff8a0ff4c484fc76da87ef3970dcc3681a5a2b1a6fcb902021", + "visual_seed": 4579383857486975937, + "episode_index": 51, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_52_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_52_success.json new file mode 100644 index 0000000000000000000000000000000000000000..296fca6413f758e2c12334d8532c9a9f6decdc01 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_52_success.json @@ -0,0 +1,700 @@ +{ + "episode": 52, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3778464814600595, + -0.08440958154082916, + 1.1642037206770066 + ], + "current_z": 1.1642037206770066, + "required_z": 0.8611066868287002, + "initial_z": 0.7611066868287002, + "lift_margin": 0.30309703384830644, + "gripper_z": 1.1538562685506002, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37348649706279496, + -0.08890227590824111, + 1.1538562685506002 + ], + "object_minus_gripper": [ + 0.004359984397264538, + 0.0044926943674119535, + 0.01034745212640642 + ], + "object_to_gripper_xy": 0.006260492522427074, + "object_to_gripper_z": 0.01034745212640642, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3778464814600595, + -0.1079898967275753, + 1.1642037206770066 + ], + "finger_b": [ + 0.3673741109622833, + -0.08440958154082916, + 1.1642037206770066 + ], + "finger_midpoint": [ + 0.37261029621117137, + -0.09619973913420223, + 1.1642037206770066 + ], + "object_minus_finger_midpoint": [ + 0.005236185248888137, + 0.011790157593373068, + 0.0 + ], + "finger_gap": 0.0258011978045397, + "fingertip_max_gap": 0.09158295365749672, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01290059890226986, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1642037206770066, + "object_top_z": 1.2139882786366125, + "finger_top_clearance": 0.0497845579596059, + "fingertip_min_top_clearance": 0.01493536738788177, + "object_projection_between_fingers": 0.8352557518994309, + "object_to_finger_line_xy": 0.009570943138403268, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04829147682874836, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5506958238517594, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 360, + "max_stable_success_frames": 360, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33608433975884544, + -0.33283362480549683, + 0.8515395166622308 + ], + "target_position": [ + 0.32760236737586557, + -0.3349115846024399, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008732798659269837, + "xy_threshold": 0.08, + "gripper_dist": 0.18435191440912901, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395166622308, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07536068147948632, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0858762361915014, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15312153327616437, + "release_required_pad_clearance": 0.052938118095750705, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9134240288083075, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00809568166732788, + "max_z_decrease": 0.00809568166732788, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03509554352894181, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00809568166732788, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02111252967056121, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00809568166732788, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008095694593435562, + "max_button_displacement": 0.12, + "button_start": [ + 0.18330229818820956, + -0.3911730349063873, + 0.7768088579177856 + ], + "button_final": [ + 0.18330229818820956, + -0.3911730349063873, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18137255043841602, + -0.3890867666774702, + 0.8036941312488338 + ], + "closest_button": [ + 0.18328797817230225, + -0.39117509126663197, + 0.7687131762504578 + ], + "closest_ee_minus_button": [ + -0.0019154277338862269, + 0.0020883245891617497, + 0.03498095499837606 + ], + "button_min_z_position": [ + 0.18328797817230225, + -0.39117509126663197, + 0.7687131762504578 + ], + "min_active_finger_to_button": 0.146668388525219, + "closest_active_finger": [ + 0.05461828410625458, + -0.4523927569389343, + 0.8102782368659973 + ], + "closest_active_finger_button": [ + 0.1833082735538483, + -0.39117678999900807, + 0.7755923867225647 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12868998944759372, + -0.06121596693992626, + 0.03468585014343262 + ], + "min_contact_pad_to_button": 0.02111252967056121, + "closest_contact_pad": [ + 0.18328797817230225, + -0.39117509126663197, + 0.789825705921019 + ], + "closest_contact_pad_button": [ + 0.18328797817230225, + -0.39117509126663197, + 0.7687131762504578 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02111252967056121 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 52, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6781bb0af2a30441566fb1a90bd347b008d60809961269e6d9bc9046bd291a8d", + "visual_seed": 6635811927609931434, + "episode_index": 52, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_53_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_53_success.json new file mode 100644 index 0000000000000000000000000000000000000000..483e7dd9e7ec2044389784511ae7cc126a694170 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_53_success.json @@ -0,0 +1,700 @@ +{ + "episode": 53, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.37904117312779373, + -0.08928290480299991, + 1.1639067316981642 + ], + "current_z": 1.1639067316981642, + "required_z": 0.8611066868287003, + "initial_z": 0.7611066868287003, + "lift_margin": 0.3028000448694639, + "gripper_z": 1.1535407879476383, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3751145819150309, + -0.09366150309309557, + 1.1535407879476383 + ], + "object_minus_gripper": [ + 0.003926591212762842, + 0.004378598290095653, + 0.010365943750525908 + ], + "object_to_gripper_xy": 0.005881346915305621, + "object_to_gripper_z": 0.010365943750525908, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.37904117312779373, + -0.11255395298372775, + 1.1639067316981642 + ], + "finger_b": [ + 0.3687260013474864, + -0.08928290480299991, + 1.1639067316981642 + ], + "finger_midpoint": [ + 0.37388358723764004, + -0.10091842889336383, + 1.1639067316981642 + ], + "object_minus_finger_midpoint": [ + 0.005157585890153693, + 0.011635524090363919, + 0.0 + ], + "finger_gap": 0.02545475303920675, + "fingertip_max_gap": 0.09219508062994478, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012727376519603385, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1639067316981642, + "object_top_z": 1.2136983654637876, + "finger_top_clearance": 0.049791633765623455, + "fingertip_min_top_clearance": 0.014937490129687037, + "object_projection_between_fingers": 0.835784119330467, + "object_to_finger_line_xy": 0.009430256860959772, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04859754031497239, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.2017640614171166, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 357, + "max_stable_success_frames": 357, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33415761309470315, + -0.32654968442237414, + 0.8515395980740793 + ], + "target_position": [ + 0.3256399762328302, + -0.3286377034465735, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008769832447439087, + "xy_threshold": 0.08, + "gripper_dist": 0.1842833309283631, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395980740793, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07558008224005704, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08558956913147352, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15248674603068357, + "release_required_pad_clearance": 0.05279478456573676, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6367341084966663, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00787365436553955, + "max_z_decrease": 0.00787365436553955, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035009696510225105, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00787365436553955, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021231202650245966, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00787365436553955, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007873679490579976, + "max_button_displacement": 0.12, + "button_start": [ + 0.1813399046659469, + -0.3848991692066192, + 0.7768088579177856 + ], + "button_final": [ + 0.1813399046659469, + -0.3848991692066192, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18072025321343912, + -0.3841842015483162, + 0.8066704680799639 + ], + "closest_button": [ + 0.1813268512487411, + -0.3849017024040222, + 0.7716733813285828 + ], + "closest_ee_minus_button": [ + -0.0006065980353019695, + 0.0007175008557060436, + 0.034997086751381135 + ], + "button_min_z_position": [ + 0.18132035434246058, + -0.38490283489227295, + 0.7689352035522461 + ], + "min_active_finger_to_button": 0.14644891494098145, + "closest_active_finger": [ + 0.053048618137836456, + -0.44630780816078186, + 0.8078441023826599 + ], + "closest_active_finger_button": [ + 0.18135087192058558, + -0.3849040865898132, + 0.7729815244674683 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12830225378274912, + -0.06140372157096868, + 0.03486257791519165 + ], + "min_contact_pad_to_button": 0.021231202650245966, + "closest_contact_pad": [ + 0.18132035434246058, + -0.3855398643874478, + 0.7901568472067345 + ], + "closest_contact_pad_button": [ + 0.18132035434246058, + -0.38490283489227295, + 0.7689352035522461 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0006370294951748567, + 0.02122164365448842 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 53, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3f7e7023654224e4df9dd9ce401a3fb8ca5cb6d16453ea540c98cc221d5c9c35", + "visual_seed": 4140652284144579770, + "episode_index": 53, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_54_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_54_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5e8b7703b761eb364cd769caa3ee6c9942e928bd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_54_success.json @@ -0,0 +1,700 @@ +{ + "episode": 54, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.38460843116303245, + -0.09060855253396796, + 1.1654832479815962 + ], + "current_z": 1.1654832479815962, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.3043767995714749, + "gripper_z": 1.1550339694305236, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.38050400280795216, + -0.09480413544170707, + 1.1550339694305236 + ], + "object_minus_gripper": [ + 0.004104428355080292, + 0.004195582907739109, + 0.010449278551072583 + ], + "object_to_gripper_xy": 0.0058693481799685105, + "object_to_gripper_z": 0.010449278551072583, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.38460843116303245, + -0.11428068087316734, + 1.1654832479815962 + ], + "finger_b": [ + 0.3749436968773553, + -0.09060855253396796, + 1.1654832479815962 + ], + "finger_midpoint": [ + 0.37977606402019387, + -0.10244461670356765, + 1.1654832479815962 + ], + "object_minus_finger_midpoint": [ + 0.004832367142838578, + 0.011836064169599689, + 0.0 + ], + "finger_gap": 0.02556905842850436, + "fingertip_max_gap": 0.09316308713771551, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01278452921425218, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1654832479815962, + "object_top_z": 1.2153220901393729, + "finger_top_clearance": 0.049838842157776675, + "fingertip_min_top_clearance": 0.014951652647332968, + "object_projection_between_fingers": 0.8571269336711532, + "object_to_finger_line_xy": 0.008947722146849217, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04908154356885776, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.117804839131842, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 358, + "max_stable_success_frames": 358, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33151628163781083, + -0.3289982227195507, + 0.8515396033633063 + ], + "target_position": [ + 0.3244731049025073, + -0.33009026840166455, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007127334866311834, + "xy_threshold": 0.08, + "gripper_dist": 0.1843499937254803, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396033633063, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07544920151552602, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08921356837953252, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15263856966290515, + "release_required_pad_clearance": 0.054606784189766264, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 4.252112876509464, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00801163911819458, + "max_z_decrease": 0.00801163911819458, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035102857611936655, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00801163911819458, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02124379510780507, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00801163911819458, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008011673289435, + "max_button_displacement": 0.12, + "button_start": [ + 0.18017302453517914, + -0.38635173439979553, + 0.7768088579177856 + ], + "button_final": [ + 0.18017302453517914, + -0.38635173439979553, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17971102566093042, + -0.38769244501689326, + 0.8061025455288986 + ], + "closest_button": [ + 0.18015658855438227, + -0.3863540589809418, + 0.7710280418395996 + ], + "closest_ee_minus_button": [ + -0.00044556289345185074, + -0.0013383860359514888, + 0.035074503689298986 + ], + "button_min_z_position": [ + 0.18015006184577936, + -0.386356234550476, + 0.7687972187995911 + ], + "min_active_finger_to_button": 0.14636682819730165, + "closest_active_finger": [ + 0.03850872814655304, + -0.3736039102077484, + 0.8096376061439514 + ], + "closest_active_finger_button": [ + 0.1801774948835373, + -0.38635638356208796, + 0.7751327753067017 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14166876673698425, + 0.012752473354339544, + 0.034504830837249756 + ], + "min_contact_pad_to_button": 0.02124379510780507, + "closest_contact_pad": [ + 0.18015223741531372, + -0.3887411614213745, + 0.7899868033084047 + ], + "closest_contact_pad_button": [ + 0.18015223741531372, + -0.38635444641113276, + 0.7688775062561035 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0023867150102417356, + 0.021109297052301135 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 54, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7c3bc42b5fa79f7d13178167bdd5b1aa68e11ba2df6d3c8988267e46e1f28777", + "visual_seed": 717338565590576214, + "episode_index": 54, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_55_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_55_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7e72faf8ae6d744bbf5053f8d2e1161fb40d981a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_55_success.json @@ -0,0 +1,700 @@ +{ + "episode": 55, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3811947397351953, + -0.08379423568713247, + 1.1637748374828805 + ], + "current_z": 1.1637748374828805, + "required_z": 0.8611066272240554, + "initial_z": 0.7611066272240554, + "lift_margin": 0.30266821025882507, + "gripper_z": 1.1534275317291258, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37682448946683617, + -0.08826710105061678, + 1.1534275317291258 + ], + "object_minus_gripper": [ + 0.004370250268359133, + 0.004472865363484305, + 0.010347305753754643 + ], + "object_to_gripper_xy": 0.006253448006336236, + "object_to_gripper_z": 0.010347305753754643, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3811947397351953, + -0.10744991159246062, + 1.1637748374828805 + ], + "finger_b": [ + 0.3708478627449624, + -0.08379423568713247, + 1.1637748374828805 + ], + "finger_midpoint": [ + 0.3760213012400788, + -0.09562207363979655, + 1.1637748374828805 + ], + "object_minus_finger_midpoint": [ + 0.005173438495116478, + 0.01182783795266408, + 0.0 + ], + "finger_gap": 0.02581954426377301, + "fingertip_max_gap": 0.09178661095346344, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01290977213188652, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1637748374828805, + "object_top_z": 1.2135693285293185, + "finger_top_clearance": 0.04979449104643807, + "fingertip_min_top_clearance": 0.01493834731393142, + "object_projection_between_fingers": 0.8394089168783073, + "object_to_finger_line_xy": 0.009479732338136917, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04839330547673172, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.766084322089479, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 357, + "max_stable_success_frames": 357, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3387562980561088, + -0.3304159105757142, + 0.8515395730097918 + ], + "target_position": [ + 0.3311348302798773, + -0.3321785138243721, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007822630074106456, + "xy_threshold": 0.08, + "gripper_dist": 0.18532211616187777, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395730097918, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07591340748133925, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08728134314641699, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1525344590717699, + "release_required_pad_clearance": 0.053640671573208495, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.2913764353009523, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007784724235534668, + "max_z_decrease": 0.007784724235534668, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035021747102942924, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007784724235534668, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021293493407942347, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 119, + "max_z_decrease_with_contact_point": 0.007784724235534668, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007784746627704296, + "max_button_displacement": 0.12, + "button_start": [ + 0.1868347525596619, + -0.3884399831295013, + 0.7768088579177856 + ], + "button_final": [ + 0.1868347525596619, + -0.3884399831295013, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18556478418055192, + -0.3886643771227528, + 0.8087692386223876 + ], + "closest_button": [ + 0.1868435442447663, + -0.38844633102416987, + 0.7737715244293213 + ], + "closest_ee_minus_button": [ + -0.0012787600642143737, + -0.00021804609858294688, + 0.0349977141930663 + ], + "button_min_z_position": [ + 0.18681608140468603, + -0.38843983411788935, + 0.769024133682251 + ], + "min_active_finger_to_button": 0.14759577919160013, + "closest_active_finger": [ + 0.057847052812576294, + -0.45102861523628235, + 0.8082745671272278 + ], + "closest_active_finger_button": [ + 0.18684509396553045, + -0.38844659924507136, + 0.7732387185096741 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12899804115295416, + -0.06258201599121099, + 0.03503584861755371 + ], + "min_contact_pad_to_button": 0.021293493407942347, + "closest_contact_pad": [ + 0.18681608140468603, + -0.3900227972334135, + 0.7902587066539162 + ], + "closest_contact_pad_button": [ + 0.18681608140468603, + -0.38843983411788935, + 0.769024133682251 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0015829631155241386, + 0.0212345729716652 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 55, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2115381b6bdd1345ef9928905f68746ae996b6409cbc5054918151c5848ad6e1", + "visual_seed": 9139394345208897191, + "episode_index": 55, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_56_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_56_success.json new file mode 100644 index 0000000000000000000000000000000000000000..569952cdf5a07ad0902a1dc7cba1daf221d682a9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_56_success.json @@ -0,0 +1,700 @@ +{ + "episode": 56, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3835793886792307, + -0.08578940955745776, + 1.1671272079430235 + ], + "current_z": 1.1671272079430235, + "required_z": 0.8611065676194106, + "initial_z": 0.7611065676194106, + "lift_margin": 0.30602064032361287, + "gripper_z": 1.1567242770914377, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3793515009713997, + -0.0901236423172156, + 1.1567242770914377 + ], + "object_minus_gripper": [ + 0.004227887707831002, + 0.004334232759757847, + 0.010402930851585834 + ], + "object_to_gripper_xy": 0.006054800416676557, + "object_to_gripper_z": 0.010402930851585834, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3835793886792307, + -0.10941701129489875, + 1.1671272079430235 + ], + "finger_b": [ + 0.37353540177149847, + -0.08578940955745776, + 1.1671272079430235 + ], + "finger_midpoint": [ + 0.3785573952253646, + -0.09760321042617826, + 1.1671272079430235 + ], + "object_minus_finger_midpoint": [ + 0.005021993453866114, + 0.011813800868720498, + 0.0 + ], + "finger_gap": 0.02567382396266324, + "fingertip_max_gap": 0.09259655364443978, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01283691198133162, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1671272079430235, + "object_top_z": 1.2170131937731397, + "finger_top_clearance": 0.049885985830116164, + "fingertip_min_top_clearance": 0.014965795749034849, + "object_projection_between_fingers": 0.8469507669017226, + "object_to_finger_line_xy": 0.00924347393115612, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04879827682221989, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.324529200791067, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 361, + "max_stable_success_frames": 361, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3391884943633301, + -0.3283522837522449, + 0.8515395198367639 + ], + "target_position": [ + 0.3321437888403692, + -0.3295892339731876, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007152476616831808, + "xy_threshold": 0.08, + "gripper_dist": 0.1822068281184808, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395198367639, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754972454656894, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08743184283449028, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15039629561200163, + "release_required_pad_clearance": 0.05371592141724514, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.4412223027728595, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007812559604644775, + "max_z_decrease": 0.007812559604644775, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500167841563814, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007812559604644775, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021235434164214605, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 119, + "max_z_decrease_with_contact_point": 0.007812559604644775, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007812577520851046, + "max_button_displacement": 0.12, + "button_start": [ + 0.18784371018409723, + -0.38585069775581354, + 0.7768088579177856 + ], + "button_final": [ + 0.18784371018409723, + -0.38585069775581354, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18749236831744726, + -0.38538530471308324, + 0.8045184690074143 + ], + "closest_button": [ + 0.1878280192613601, + -0.3858537077903747, + 0.7695215344429016 + ], + "closest_ee_minus_button": [ + -0.00033565094391285744, + 0.00046840307729145714, + 0.034996934564512694 + ], + "button_min_z_position": [ + 0.18782737851142878, + -0.3858543336391448, + 0.7689962983131409 + ], + "min_active_finger_to_button": 0.14607798468373798, + "closest_active_finger": [ + 0.06094738841056824, + -0.4492233991622925, + 0.8081130385398865 + ], + "closest_active_finger_button": [ + 0.1878561675548553, + -0.38585478067398066, + 0.7732223868370056 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12690877914428705, + -0.06336861848831182, + 0.03489065170288086 + ], + "min_contact_pad_to_button": 0.021235434164214605, + "closest_contact_pad": [ + 0.18782737851142878, + -0.38649633519525356, + 0.7902220255832404 + ], + "closest_contact_pad_button": [ + 0.18782737851142878, + -0.3858543336391448, + 0.7689962983131409 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0006420015561087733, + 0.021225727270099526 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 56, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1c369016992d251e1157131cf9a060b66a7005617ea3bae820835acc0009f8e0", + "visual_seed": 7330498925031594012, + "episode_index": 56, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_57_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_57_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ad6c22bba75b2b425ab8180bd57c7159ff81e129 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_57_success.json @@ -0,0 +1,700 @@ +{ + "episode": 57, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.37717027598948705, + -0.08502134082807011, + 1.16641018494599 + ], + "current_z": 1.16641018494599, + "required_z": 0.8611066868287003, + "initial_z": 0.7611066868287003, + "lift_margin": 0.30530349811728974, + "gripper_z": 1.156114501045525, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37286778210969196, + -0.08947605356619141, + 1.156114501045525 + ], + "object_minus_gripper": [ + 0.0043024938797950885, + 0.0044547127381213, + 0.010295683900465091 + ], + "object_to_gripper_xy": 0.006193215575519261, + "object_to_gripper_z": 0.010295683900465091, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.37717027598948705, + -0.10852633187143607, + 1.16641018494599 + ], + "finger_b": [ + 0.36670913795227933, + -0.08502134082807011, + 1.16641018494599 + ], + "finger_midpoint": [ + 0.3719397069708832, + -0.09677383634975309, + 1.16641018494599 + ], + "object_minus_finger_midpoint": [ + 0.005230569018603859, + 0.011752495521682976, + 0.0 + ], + "finger_gap": 0.02572780622171715, + "fingertip_max_gap": 0.09198876269548859, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012863903110858575, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.16641018494599, + "object_top_z": 1.2162286953103358, + "finger_top_clearance": 0.049818510364345814, + "fingertip_min_top_clearance": 0.014945553109303743, + "object_projection_between_fingers": 0.834669738205283, + "object_to_finger_line_xy": 0.009557323067072234, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048494381347744295, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8316488397631263, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 362, + "max_stable_success_frames": 362, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33963158390144155, + -0.3312012645803229, + 0.8515395755602866 + ], + "target_position": [ + 0.33114012460502146, + -0.33311149904389337, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008703670299854627, + "xy_threshold": 0.08, + "gripper_dist": 0.18581116978663365, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395755602866, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0751308308106054, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08521132445503558, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15497442093301556, + "release_required_pad_clearance": 0.052605662227517794, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.274112221055925, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 159, + "max_placed_release_frames": 159 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008102595806121826, + "max_z_decrease": 0.008102595806121826, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501764933643713, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008102595806121826, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02115024991969394, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008102595806121826, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008102603894556961, + "max_button_displacement": 0.12, + "button_start": [ + 0.18684005737304682, + -0.38937294483184814, + 0.7768088579177856 + ], + "button_final": [ + 0.18684005737304682, + -0.38937294483184814, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1879341286241957, + -0.38948028519118655, + 0.8037067773995661 + ], + "closest_button": [ + 0.18684515357017512, + -0.3893626928329468, + 0.7687062621116638 + ], + "closest_ee_minus_button": [ + 0.0010889750540205856, + -0.00011759235823977088, + 0.03500051528790227 + ], + "button_min_z_position": [ + 0.18684515357017512, + -0.3893626928329468, + 0.7687062621116638 + ], + "min_active_finger_to_button": 0.1448038293812421, + "closest_active_finger": [ + 0.046922966837882996, + -0.37591853737831116, + 0.8077405095100403 + ], + "closest_active_finger_button": [ + 0.1868514716625213, + -0.3893795013427734, + 0.772999107837677 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1399285048246383, + 0.013460963964462225, + 0.03474140167236328 + ], + "min_contact_pad_to_button": 0.02115024991969394, + "closest_contact_pad": [ + 0.18684515357017512, + -0.3904395890006206, + 0.7898290783611501 + ], + "closest_contact_pad_button": [ + 0.18684515357017512, + -0.3893626928329468, + 0.7687062621116638 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0010768961676738131, + 0.02112281624948631 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 57, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f584093d6381771a0b222e2f0b5e1b19d676105e0ade81602cf9ac25af683996", + "visual_seed": 4330911211212066935, + "episode_index": 57, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_58_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_58_success.json new file mode 100644 index 0000000000000000000000000000000000000000..aa0007321d56dc14536071a7d7af56a2d30fd756 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_58_success.json @@ -0,0 +1,700 @@ +{ + "episode": 58, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.37891802995982937, + -0.08935945343099666, + 1.1672629381082067 + ], + "current_z": 1.1672629381082067, + "required_z": 0.8611066272240555, + "initial_z": 0.7611066272240555, + "lift_margin": 0.3061563108841512, + "gripper_z": 1.1569055223469973, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37458918661453106, + -0.09372212329106042, + 1.1569055223469973 + ], + "object_minus_gripper": [ + 0.004328843345298317, + 0.004362669860063756, + 0.01035741576120941 + ], + "object_to_gripper_xy": 0.006145874471223947, + "object_to_gripper_z": 0.01035741576120941, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.37891802995982937, + -0.11304856579897057, + 1.1672629381082067 + ], + "finger_b": [ + 0.3688182819883253, + -0.08935945343099666, + 1.1672629381082067 + ], + "finger_midpoint": [ + 0.3738681559740773, + -0.10120400961498362, + 1.1672629381082067 + ], + "object_minus_finger_midpoint": [ + 0.005049873985752074, + 0.011844556183986957, + 0.0 + ], + "finger_gap": 0.025752261140924996, + "fingertip_max_gap": 0.09210687427752531, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01287613057046251, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1672629381082067, + "object_top_z": 1.2170883132063437, + "finger_top_clearance": 0.049825375098137004, + "fingertip_min_top_clearance": 0.014947612529441101, + "object_projection_between_fingers": 0.8461879580276372, + "object_to_finger_line_xy": 0.009290604163878984, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04855343713876266, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.001462059759823, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 361, + "max_stable_success_frames": 361, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33055767505323547, + -0.32591080552651086, + 0.8515396126440872 + ], + "target_position": [ + 0.32308146224351136, + -0.3271326303573026, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007575395296182376, + "xy_threshold": 0.08, + "gripper_dist": 0.1837816717137661, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396126440872, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07519909472178703, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08693644176596814, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15270676177631448, + "release_required_pad_clearance": 0.05346822088298407, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.9495629228288627, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007676303386688232, + "max_z_decrease": 0.007676303386688232, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03509728409156945, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007676303386688232, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021205745421721378, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007676303386688232, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0076763256796779115, + "max_button_displacement": 0.12, + "button_start": [ + 0.1787813901901244, + -0.38339409232139576, + 0.7768088579177856 + ], + "button_final": [ + 0.1787813901901244, + -0.38339409232139576, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1801216305982522, + -0.38191844593277124, + 0.8042447580208354 + ], + "closest_button": [ + 0.17876234650611866, + -0.38339811563491816, + 0.7692050337791443 + ], + "closest_ee_minus_button": [ + 0.0013592840921335392, + 0.001479669702146913, + 0.035039724241691106 + ], + "button_min_z_position": [ + 0.17876335978507985, + -0.38339823484420765, + 0.7691325545310974 + ], + "min_active_finger_to_button": 0.14407991978633589, + "closest_active_finger": [ + 0.05321139842271805, + -0.44490084052085876, + 0.80788254737854 + ], + "closest_active_finger_button": [ + 0.1787928044795989, + -0.3833999931812286, + 0.7731553316116333 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12558140605688084, + -0.06150084733963018, + 0.03472721576690674 + ], + "min_contact_pad_to_button": 0.021205745421721378, + "closest_contact_pad": [ + 0.17876335978507985, + -0.38339823484420765, + 0.7903382999528188 + ], + "closest_contact_pad_button": [ + 0.17876335978507985, + -0.38339823484420765, + 0.7691325545310974 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021205745421721378 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 58, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6c4358dfcbd24c09db71a93feb88eef849327ac31262542fddc32d99e7549660", + "visual_seed": 5713349475387987181, + "episode_index": 58, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_59_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_59_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f65ed1e4800adfb425a7a510898e6328d3da7dc0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_59_success.json @@ -0,0 +1,700 @@ +{ + "episode": 59, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.37818529140555024, + -0.08818237876047877, + 1.1638900270738257 + ], + "current_z": 1.1638900270738257, + "required_z": 0.8611066272240554, + "initial_z": 0.7611066272240554, + "lift_margin": 0.3027833998497703, + "gripper_z": 1.1535689108204992, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37400126897599384, + -0.09249438057036775, + 1.1535689108204992 + ], + "object_minus_gripper": [ + 0.0041840224295564, + 0.004312001809888985, + 0.010321116253326545 + ], + "object_to_gripper_xy": 0.0060082778979934776, + "object_to_gripper_z": 0.010321116253326545, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.37818529140555024, + -0.11188955426085481, + 1.1638900270738257 + ], + "finger_b": [ + 0.3683372367095731, + -0.08818237876047877, + 1.1638900270738257 + ], + "finger_midpoint": [ + 0.37326126405756166, + -0.10003596651066679, + 1.1638900270738257 + ], + "object_minus_finger_midpoint": [ + 0.00492402734798858, + 0.011853587750188022, + 0.0 + ], + "finger_gap": 0.02567127483200996, + "fingertip_max_gap": 0.09330967970877288, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01283563741600498, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1638900270738257, + "object_top_z": 1.2136879063211998, + "finger_top_clearance": 0.04979787924737411, + "fingertip_min_top_clearance": 0.014939363774212233, + "object_projection_between_fingers": 0.8528344927934832, + "object_to_finger_line_xy": 0.00909458383125232, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04915483985438644, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.2396344866338356, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 347, + "max_stable_success_frames": 347, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3309582792339425, + -0.3283726203912778, + 0.8515395788041564 + ], + "target_position": [ + 0.3248516185713722, + -0.32882085294878416, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00612308883435415, + "xy_threshold": 0.08, + "gripper_dist": 0.1845296014724191, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395788041564, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07579638784922535, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0895376520091251, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1518147832877873, + "release_required_pad_clearance": 0.05476882600456255, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 4.589298155059308, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00783693790435791, + "max_z_decrease": 0.00783693790435791, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035040199598532766, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00783693790435791, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02122985892343532, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00783693790435791, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007836958142368981, + "max_button_displacement": 0.12, + "button_start": [ + 0.1805515438318252, + -0.38508230447769165, + 0.7768088579177856 + ], + "button_final": [ + 0.1805515438318252, + -0.38508230447769165, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18046816716710593, + -0.3833921253941885, + 0.8041898374903234 + ], + "closest_button": [ + 0.18053513765335077, + -0.3850860297679901, + 0.7691906690597534 + ], + "closest_ee_minus_button": [ + -6.697048624484947e-05, + 0.0016939043738016246, + 0.03499916843056994 + ], + "button_min_z_position": [ + 0.18053428828716275, + -0.38508671522140503, + 0.7689719200134277 + ], + "min_active_finger_to_button": 0.14528880319673756, + "closest_active_finger": [ + 0.05311638116836548, + -0.44550418853759766, + 0.8078750371932983 + ], + "closest_active_finger_button": [ + 0.18056330084800715, + -0.3850860297679901, + 0.7730072140693665 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12744691967964167, + -0.060418158769607544, + 0.034867823123931885 + ], + "min_contact_pad_to_button": 0.02122985892343532, + "closest_contact_pad": [ + 0.18053428828716275, + -0.38508671522140503, + 0.790201778936863 + ], + "closest_contact_pad_button": [ + 0.18053428828716275, + -0.38508671522140503, + 0.7689719200134277 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02122985892343532 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 59, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9827bb2022220caf1d34ebdfc4517be92146ac09c3f9751d37fa6682efcfebe8", + "visual_seed": 2544244098008530613, + "episode_index": 59, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_5_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_5_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2fd37f1f40dcd0e460fdc1382884c1f6d2d9b01f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_5_success.json @@ -0,0 +1,700 @@ +{ + "episode": 5, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3796549084479717, + -0.08821924032846801, + 1.1664747360907475 + ], + "current_z": 1.1664747360907475, + "required_z": 0.8611066868287003, + "initial_z": 0.7611066868287003, + "lift_margin": 0.3053680492620472, + "gripper_z": 1.1561514380120834, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37577345333019596, + -0.0924962998199459, + 1.1561514380120834 + ], + "object_minus_gripper": [ + 0.0038814551177757117, + 0.0042770594914779, + 0.010323298078664056 + ], + "object_to_gripper_xy": 0.005775719152187757, + "object_to_gripper_z": 0.010323298078664056, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3796549084479717, + -0.1114367082682305, + 1.1664747360907475 + ], + "finger_b": [ + 0.36945948078073837, + -0.08821924032846801, + 1.1664747360907475 + ], + "finger_midpoint": [ + 0.374557194614355, + -0.09982797429834925, + 1.1664747360907475 + ], + "object_minus_finger_midpoint": [ + 0.005097713833616679, + 0.01160873396988124, + 0.0 + ], + "finger_gap": 0.02535739661029274, + "fingertip_max_gap": 0.09295519242481406, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012678698305146374, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1664747360907475, + "object_top_z": 1.216356377860428, + "finger_top_clearance": 0.049881641769680574, + "fingertip_min_top_clearance": 0.01496449253090417, + "object_projection_between_fingers": 0.8383403743292837, + "object_to_finger_line_xy": 0.009335028300976066, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048977596212407035, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.7895551235181464, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 366, + "max_stable_success_frames": 366, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3319177400945696, + -0.32956314183648716, + 0.851539560464688 + ], + "target_position": [ + 0.3247858137936443, + -0.3308035074977156, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007238983335758178, + "xy_threshold": 0.08, + "gripper_dist": 0.18498479397942227, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539560464688, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07515532929042643, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08532149401386456, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15402783430514994, + "release_required_pad_clearance": 0.05266074700693228, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3794912696308297, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007912397384643555, + "max_z_decrease": 0.007912397384643555, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502647229409799, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007912397384643555, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021231133474830077, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007912397384643555, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007912421021306912, + "max_button_displacement": 0.12, + "button_start": [ + 0.18048574030399317, + -0.38706496357917786, + 0.7768088579177856 + ], + "button_final": [ + 0.18048574030399317, + -0.38706496357917786, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17971893667170274, + -0.3873632669583158, + 0.8068487550091051 + ], + "closest_button": [ + 0.1804723292589187, + -0.38706791400909424, + 0.7718316316604614 + ], + "closest_ee_minus_button": [ + -0.0007533925872159619, + -0.0002953529492215612, + 0.03501712334864371 + ], + "button_min_z_position": [ + 0.18046671152114863, + -0.38706842064857483, + 0.7688964605331421 + ], + "min_active_finger_to_button": 0.14690755809312908, + "closest_active_finger": [ + 0.03866083174943924, + -0.37106290459632874, + 0.8077602386474609 + ], + "closest_active_finger_button": [ + 0.18049578368663782, + -0.3870712220668793, + 0.772998034954071 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14183495193719858, + 0.016008317470550537, + 0.03476220369338989 + ], + "min_contact_pad_to_button": 0.021231133474830077, + "closest_contact_pad": [ + 0.18046671152114863, + -0.38864216408485486, + 0.7900691873349222 + ], + "closest_contact_pad_button": [ + 0.18046671152114863, + -0.38706842064857483, + 0.7688964605331421 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0015737434362800284, + 0.021172726801780062 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 5, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4e828f7f549d6295c7795d0fc883aff3a077803da505acd2e9120ab00c7d0194", + "visual_seed": 6031229279299909411, + "episode_index": 5, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_60_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_60_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ee6ebb68e51fce9cd7339fe8da6bd66520a4d3d6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_60_success.json @@ -0,0 +1,700 @@ +{ + "episode": 60, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3857128894601665, + -0.08349438915812926, + 1.167565513695092 + ], + "current_z": 1.167565513695092, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.3064590056803258, + "gripper_z": 1.1571205642193187, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.38164019982703645, + -0.08782751594269089, + 1.1571205642193187 + ], + "object_minus_gripper": [ + 0.004072689633130067, + 0.004333126784561631, + 0.010444949475773235 + ], + "object_to_gripper_xy": 0.005946661969448956, + "object_to_gripper_z": 0.010444949475773235, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3857128894601665, + -0.10687556503366274, + 1.167565513695092 + ], + "finger_b": [ + 0.3754808095168863, + -0.08349438915812926, + 1.167565513695092 + ], + "finger_midpoint": [ + 0.3805968494885264, + -0.095184977095896, + 1.167565513695092 + ], + "object_minus_finger_midpoint": [ + 0.005116039971640118, + 0.011690587937766742, + 0.0 + ], + "finger_gap": 0.025522046259818326, + "fingertip_max_gap": 0.09262557852169992, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012761023129909163, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.167565513695092, + "object_top_z": 1.2174267614681669, + "finger_top_clearance": 0.04986124777307488, + "fingertip_min_top_clearance": 0.01495837433192243, + "object_projection_between_fingers": 0.8392700290424354, + "object_to_finger_line_xy": 0.009373780546076679, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04881278926084996, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.3759807276247122, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 364, + "max_stable_success_frames": 364, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3373157046583836, + -0.3326723225905349, + 0.8515395119233087 + ], + "target_position": [ + 0.329857243271146, + -0.33425094738519623, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007623693495100241, + "xy_threshold": 0.08, + "gripper_dist": 0.1854626761268653, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395119233087, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07554572198215746, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08642456109990969, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15360357856799303, + "release_required_pad_clearance": 0.053212280549954846, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4466926190963512, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007926464080810547, + "max_z_decrease": 0.007926464080810547, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035001687058785834, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007926464080810547, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02131778003165447, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 119, + "max_z_decrease_with_contact_point": 0.007926464080810547, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007926490457426563, + "max_button_displacement": 0.12, + "button_start": [ + 0.1855571717023849, + -0.39051240682601923, + 0.7768088579177856 + ], + "button_final": [ + 0.1855571717023849, + -0.39051240682601923, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18598165132291197, + -0.39111195048794256, + 0.8038761245198389 + ], + "closest_button": [ + 0.18553672730922696, + -0.39051282405853266, + 0.7688823938369751 + ], + "closest_ee_minus_button": [ + 0.0004449240136850108, + -0.0005991264294099019, + 0.03499373068286382 + ], + "button_min_z_position": [ + 0.18553672730922696, + -0.39051282405853266, + 0.7688823938369751 + ], + "min_active_finger_to_button": 0.14549750903421832, + "closest_active_finger": [ + 0.0453479140996933, + -0.3740721344947815, + 0.8083307147026062 + ], + "closest_active_finger_button": [ + 0.18556816875934595, + -0.3905186951160431, + 0.7731552124023438 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14022025465965265, + 0.016446560621261597, + 0.03517550230026245 + ], + "min_contact_pad_to_button": 0.02131778003165447, + "closest_contact_pad": [ + 0.18553672730922696, + -0.3923848367176889, + 0.7901178197588153 + ], + "closest_contact_pad_button": [ + 0.18553672730922696, + -0.39051282405853266, + 0.7688823938369751 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0018720126591562636, + 0.021235425921840245 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 60, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "80f5ed1d277ddf1b2db56b442cd344efeb7534a2325c6afa2f784069fe5b1ebe", + "visual_seed": 2346326911425816662, + "episode_index": 60, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_61_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_61_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2dd32e5b721dfbe3bedf6a2e382e86d9d255b3b8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_61_success.json @@ -0,0 +1,700 @@ +{ + "episode": 61, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.384250094616583, + -0.08866101090409682, + 1.1666951146762377 + ], + "current_z": 1.1666951146762377, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.3055886662661166, + "gripper_z": 1.1562706057879084, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.38005367745680235, + -0.09299369059041197, + 1.1562706057879084 + ], + "object_minus_gripper": [ + 0.004196417159780641, + 0.0043326796863151495, + 0.010424508888329242 + ], + "object_to_gripper_xy": 0.006031751838654287, + "object_to_gripper_z": 0.010424508888329242, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.384250094616583, + -0.11219278805914731, + 1.1666951146762377 + ], + "finger_b": [ + 0.374109039746969, + -0.08866101090409682, + 1.1666951146762377 + ], + "finger_midpoint": [ + 0.37917956718177603, + -0.10042689948162206, + 1.1666951146762377 + ], + "object_minus_finger_midpoint": [ + 0.0050705274348069596, + 0.011765888577525238, + 0.0 + ], + "finger_gap": 0.025623924951956083, + "fingertip_max_gap": 0.09240953084858475, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012811962475978024, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1666951146762377, + "object_top_z": 1.2165262570450963, + "finger_top_clearance": 0.04983114236885866, + "fingertip_min_top_clearance": 0.014949342710657565, + "object_projection_between_fingers": 0.8433699964765071, + "object_to_finger_line_xy": 0.009313055816247152, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048704765424292376, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.209776998296, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 361, + "max_stable_success_frames": 361, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.337551120655013, + -0.32616413009099393, + 0.8515395706604291 + ], + "target_position": [ + 0.33054811621626073, + -0.32755767377083567, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007140310578456034, + "xy_threshold": 0.08, + "gripper_dist": 0.1863115673103259, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395706604291, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07571704614578913, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08715107203451448, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15398162019807132, + "release_required_pad_clearance": 0.053575536017257244, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.1620165848808948, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008031785488128662, + "max_z_decrease": 0.008031785488128662, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035019456148762514, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008031785488128662, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02124897328021344, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008031785488128662, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008031813865429208, + "max_button_displacement": 0.12, + "button_start": [ + 0.18624804913997647, + -0.3838191330432892, + 0.7768088579177856 + ], + "button_final": [ + 0.18624804913997647, + -0.3838191330432892, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18517477060230528, + -0.3829247024056337, + 0.8061701075751184 + ], + "closest_button": [ + 0.18623396754264832, + -0.3838200569152832, + 0.771178126335144 + ], + "closest_ee_minus_button": [ + -0.001059196940343038, + 0.0008953545096495041, + 0.03499198123997438 + ], + "button_min_z_position": [ + 0.1862267106771469, + -0.3838198482990265, + 0.768777072429657 + ], + "min_active_finger_to_button": 0.14674792659091815, + "closest_active_finger": [ + 0.057853519916534424, + -0.4456467926502228, + 0.807875394821167 + ], + "closest_active_finger_button": [ + 0.18626059591770172, + -0.38382527232170105, + 0.7728800177574158 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1284070760011673, + -0.06182152032852173, + 0.03499537706375122 + ], + "min_contact_pad_to_button": 0.02124897328021344, + "closest_contact_pad": [ + 0.1862267106771469, + -0.3842056988501841, + 0.7900225421777091 + ], + "closest_contact_pad_button": [ + 0.1862267106771469, + -0.3838198482990265, + 0.768777072429657 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00038585055115758493, + 0.02124546974805208 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 61, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "75f14dc87b9b0749321b755b170332d3666ad32f8acfea9da1908d41420297c1", + "visual_seed": 6235178048099021668, + "episode_index": 61, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_62_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_62_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d2b9d4295f233770199d3f5a08f2399952dd473b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_62_success.json @@ -0,0 +1,700 @@ +{ + "episode": 62, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3820434579932335, + -0.09262932411586915, + 1.16439131560481 + ], + "current_z": 1.16439131560481, + "required_z": 0.8611066868287003, + "initial_z": 0.7611066868287003, + "lift_margin": 0.30328462877610973, + "gripper_z": 1.1540047143392125, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3779379605394047, + -0.09698810299518322, + 1.1540047143392125 + ], + "object_minus_gripper": [ + 0.004105497453828821, + 0.004358778879314074, + 0.01038660126559754 + ], + "object_to_gripper_xy": 0.005987826205072204, + "object_to_gripper_z": 0.01038660126559754, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3820434579932335, + -0.11612119290270821, + 1.16439131560481 + ], + "finger_b": [ + 0.3718968585790528, + -0.09262932411586915, + 1.16439131560481 + ], + "finger_midpoint": [ + 0.37697015828614316, + -0.10437525850928868, + 1.16439131560481 + ], + "object_minus_finger_midpoint": [ + 0.005073299707090362, + 0.011745934393419533, + 0.0 + ], + "finger_gap": 0.025589477891702208, + "fingertip_max_gap": 0.09207557825773446, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012794738945851104, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.16439131560481, + "object_top_z": 1.2141412475763937, + "finger_top_clearance": 0.04974993197158373, + "fingertip_min_top_clearance": 0.014924979591475084, + "object_projection_between_fingers": 0.8427762394299786, + "object_to_finger_line_xy": 0.009314866957400676, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048537789128867234, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.044221096657756, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 354, + "max_stable_success_frames": 354, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3364030758901235, + -0.3263617250375094, + 0.8515395623127019 + ], + "target_position": [ + 0.32936102875840506, + -0.3276710826521687, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007162740060089479, + "xy_threshold": 0.08, + "gripper_dist": 0.18470066698363727, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395623127019, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07585812860511147, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08761133672385045, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15198138499020916, + "release_required_pad_clearance": 0.05380566836192523, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.6206013418284795, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007949471473693848, + "max_z_decrease": 0.007949471473693848, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03505915012720563, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007949471473693848, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021231350037615872, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007949471473693848, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007949493109634833, + "max_button_displacement": 0.12, + "button_start": [ + 0.18506094813346857, + -0.38393253087997437, + 0.7768088579177856 + ], + "button_final": [ + 0.18506094813346857, + -0.38393253087997437, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1832720142256316, + -0.3827335595318001, + 0.8074020327468696 + ], + "closest_button": [ + 0.18504951894283292, + -0.38393542170524597, + 0.7724086046218872 + ], + "closest_ee_minus_button": [ + -0.0017775047172013114, + 0.0012018621734458668, + 0.034993428124982406 + ], + "button_min_z_position": [ + 0.1850425750017166, + -0.3839350640773773, + 0.7688593864440918 + ], + "min_active_finger_to_button": 0.14736264922865167, + "closest_active_finger": [ + 0.05576815456151962, + -0.4454076886177063, + 0.8078263998031616 + ], + "closest_active_finger_button": [ + 0.18507130444049835, + -0.3839378654956818, + 0.7729278802871704 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12930314987897873, + -0.06146982312202448, + 0.03489851951599121 + ], + "min_contact_pad_to_button": 0.021231350037615872, + "closest_contact_pad": [ + 0.1850425750017166, + -0.38405126693973035, + 0.7900904184801129 + ], + "closest_contact_pad_button": [ + 0.1850425750017166, + -0.3839350640773773, + 0.7688593864440918 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00011620286235303201, + 0.021231032036021058 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 62, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f695a7f03639b5db36f6d46834e0b304e4e8735ecc633784ba56120e8bdfcaa3", + "visual_seed": 496841237613491774, + "episode_index": 62, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_63_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_63_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f11e1b6d56a3532cce31475c1a990f0c9fa74a99 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_63_success.json @@ -0,0 +1,700 @@ +{ + "episode": 63, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3830231677431807, + -0.08333585973721104, + 1.1668683685374095 + ], + "current_z": 1.1668683685374095, + "required_z": 0.8611067464333453, + "initial_z": 0.7611067464333453, + "lift_margin": 0.3057616221040642, + "gripper_z": 1.156372020331058, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3791536379342277, + -0.08750904401690136, + 1.156372020331058 + ], + "object_minus_gripper": [ + 0.0038695298089529984, + 0.004173184279690323, + 0.010496348206351591 + ], + "object_to_gripper_xy": 0.005691109555669286, + "object_to_gripper_z": 0.010496348206351591, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3830231677431807, + -0.10681701728522472, + 1.1668683685374095 + ], + "finger_b": [ + 0.3733565868017922, + -0.08333585973721104, + 1.1668683685374095 + ], + "finger_midpoint": [ + 0.37818987727248643, + -0.09507643851121789, + 1.1668683685374095 + ], + "object_minus_finger_midpoint": [ + 0.0048332904706942514, + 0.011740578774006846, + 0.0 + ], + "finger_gap": 0.025393060998844846, + "fingertip_max_gap": 0.09264514824331396, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01269653049942243, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1668683685374095, + "object_top_z": 1.2166560113488998, + "finger_top_clearance": 0.049787642811490285, + "fingertip_min_top_clearance": 0.014936292843447085, + "object_projection_between_fingers": 0.8550842223436271, + "object_to_finger_line_xy": 0.00893876126417744, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048822574121656984, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.6345161882027845, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 355, + "max_stable_success_frames": 355, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32981592199598, + -0.33287430136974827, + 0.8515395605423789 + ], + "target_position": [ + 0.32302511543341145, + -0.3337965335493568, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0068531427800192, + "xy_threshold": 0.08, + "gripper_dist": 0.18175198688099556, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395605423789, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07577530807436189, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08817984706907243, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14923798289893928, + "release_required_pad_clearance": 0.05408992353453622, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.1930981460179275, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008070945739746094, + "max_z_decrease": 0.008070945739746094, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035063296043797515, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008070945739746094, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021205627107082313, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008070945739746094, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008070947996687132, + "max_button_displacement": 0.12, + "button_start": [ + 0.17872504889965063, + -0.3900579810142517, + 0.7768088579177856 + ], + "button_final": [ + 0.17872504889965063, + -0.3900579810142517, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1776520660435877, + -0.39162093184284175, + 0.8037496134691718 + ], + "closest_button": [ + 0.17872644960880285, + -0.39005210995674133, + 0.7687379121780396 + ], + "closest_ee_minus_button": [ + -0.0010743835652151645, + -0.0015688218861004133, + 0.03501170129113229 + ], + "button_min_z_position": [ + 0.17872644960880285, + -0.39005210995674133, + 0.7687379121780396 + ], + "min_active_finger_to_button": 0.146695358025418, + "closest_active_finger": [ + 0.03678477555513382, + -0.3766312003135681, + 0.8095352649688721 + ], + "closest_active_finger_button": [ + 0.1787294894456864, + -0.3900623619556427, + 0.7750268578529358 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14194471389055258, + 0.013431161642074585, + 0.03450840711593628 + ], + "min_contact_pad_to_button": 0.021205627107082313, + "closest_contact_pad": [ + 0.17872644960880285, + -0.39269867548454446, + 0.7897777389813112 + ], + "closest_contact_pad_button": [ + 0.17872644960880285, + -0.39005210995674133, + 0.7687379121780396 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002646565527803124, + 0.021039826803271655 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 63, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "50d18673db7e25fc703b71652314201d2a794d811e1728e40fe91e92030cf6ec", + "visual_seed": 3764653946596089331, + "episode_index": 63, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_64_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_64_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ae4151c0a6af69102d6224de31c5eb4732368c5e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_64_success.json @@ -0,0 +1,700 @@ +{ + "episode": 64, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.38395903785983915, + -0.09113486606910991, + 1.1675771508863066 + ], + "current_z": 1.1675771508863066, + "required_z": 0.8611066272240557, + "initial_z": 0.7611066272240558, + "lift_margin": 0.3064705236622509, + "gripper_z": 1.1570757144772843, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37979058413264816, + -0.09555694773886969, + 1.1570757144772843 + ], + "object_minus_gripper": [ + 0.0041684537271909905, + 0.004422081669759784, + 0.010501436409022347 + ], + "object_to_gripper_xy": 0.006077072713877788, + "object_to_gripper_z": 0.010501436409022347, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.38395903785983915, + -0.11459221169445802, + 1.1675771508863066 + ], + "finger_b": [ + 0.37359987305496845, + -0.09113486606910991, + 1.1675771508863066 + ], + "finger_midpoint": [ + 0.37877945545740377, + -0.10286353888178396, + 1.1675771508863066 + ], + "object_minus_finger_midpoint": [ + 0.005179582402435379, + 0.011728672812674049, + 0.0 + ], + "finger_gap": 0.02564292025572575, + "fingertip_max_gap": 0.09185120121044596, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01282146012786288, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1675771508863066, + "object_top_z": 1.2174036166890037, + "finger_top_clearance": 0.049826465802697006, + "fingertip_min_top_clearance": 0.014947939740809102, + "object_projection_between_fingers": 0.8368021168792187, + "object_to_finger_line_xy": 0.009476241660250649, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04842560060522298, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7594436610687945, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 367, + "max_stable_success_frames": 367, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33139185353678, + -0.33000729622409597, + 0.8515396545147257 + ], + "target_position": [ + 0.32354507395374593, + -0.3316809371686834, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008023280117016992, + "xy_threshold": 0.08, + "gripper_dist": 0.18420386663781224, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396545147257, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07557358077931038, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08702705840314555, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15221425529631843, + "release_required_pad_clearance": 0.053513529201572776, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.039047967382782, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008048832416534424, + "max_z_decrease": 0.008048832416534424, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03511036292157015, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008048832416534424, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021104001406269446, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008048832416534424, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008048837525416835, + "max_button_displacement": 0.12, + "button_start": [ + 0.17924499511718747, + -0.3879424035549163, + 0.7768088579177856 + ], + "button_final": [ + 0.17924499511718747, + -0.3879424035549163, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1798971062591392, + -0.38692449298868964, + 0.8038494306791033 + ], + "closest_button": [ + 0.1792359799146652, + -0.38794142007827753, + 0.7687600255012512 + ], + "closest_ee_minus_button": [ + 0.0006611263444740167, + 0.0010169270895878935, + 0.035089405177852084 + ], + "button_min_z_position": [ + 0.1792359799146652, + -0.38794142007827753, + 0.7687600255012512 + ], + "min_active_finger_to_button": 0.144784031631884, + "closest_active_finger": [ + 0.05406602472066879, + -0.45202964544296265, + 0.8106846809387207 + ], + "closest_active_finger_button": [ + 0.17924857139587397, + -0.38794478774070734, + 0.776262640953064 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12518254667520518, + -0.0640848577022553, + 0.03442203998565674 + ], + "min_contact_pad_to_button": 0.021104001406269446, + "closest_contact_pad": [ + 0.1792359799146652, + -0.38794142007827753, + 0.7898640269075207 + ], + "closest_contact_pad_button": [ + 0.1792359799146652, + -0.38794142007827753, + 0.7687600255012512 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021104001406269446 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 64, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "319d73b0786257d9f9e13ffa425dd7530b087f77c449aac17b2c92ec1fcc30d8", + "visual_seed": 8006026859343489013, + "episode_index": 64, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_65_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_65_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0881f19886c6f3713171e7d2c7cdfaa14c5159b5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_65_success.json @@ -0,0 +1,700 @@ +{ + "episode": 65, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.38180020544248106, + -0.09076282855910757, + 1.1651159170247094 + ], + "current_z": 1.1651159170247094, + "required_z": 0.8611066868287003, + "initial_z": 0.7611066868287003, + "lift_margin": 0.3040092301960091, + "gripper_z": 1.15465963642224, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3778680313162183, + -0.09514064394679833, + 1.15465963642224 + ], + "object_minus_gripper": [ + 0.003932174126262733, + 0.004377815387690762, + 0.010456280602469503 + ], + "object_to_gripper_xy": 0.0058844932600821374, + "object_to_gripper_z": 0.010456280602469503, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.38180020544248106, + -0.11399153364126251, + 1.1651159170247094 + ], + "finger_b": [ + 0.3714188747508918, + -0.09076282855910757, + 1.1651159170247094 + ], + "finger_midpoint": [ + 0.37660954009668646, + -0.10237718110018504, + 1.1651159170247094 + ], + "object_minus_finger_midpoint": [ + 0.005190665345794598, + 0.011614352541077469, + 0.0 + ], + "finger_gap": 0.025442970870593388, + "fingertip_max_gap": 0.09200289554124244, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012721485435296682, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1651159170247094, + "object_top_z": 1.214921926227099, + "finger_top_clearance": 0.049806009202389534, + "fingertip_min_top_clearance": 0.01494180276071686, + "object_projection_between_fingers": 0.833516802068413, + "object_to_finger_line_xy": 0.009477858156649525, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04850144777062122, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.010325481194609, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 366, + "max_stable_success_frames": 366, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3343794096321154, + -0.3252876019802422, + 0.8515395759933599 + ], + "target_position": [ + 0.3266341242392415, + -0.3268465122830339, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007900610555470748, + "xy_threshold": 0.08, + "gripper_dist": 0.18264206120877224, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395759933599, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07520136804780625, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08600149836088143, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15168725795109542, + "release_required_pad_clearance": 0.05300074918044072, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0347542152112104, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008062303066253662, + "max_z_decrease": 0.008062303066253662, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350806228733072, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008062303066253662, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021262887258606585, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008062303066253662, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008062306394387002, + "max_button_displacement": 0.12, + "button_start": [ + 0.1823340505361557, + -0.3831079602241516, + 0.7768088579177856 + ], + "button_final": [ + 0.1823340505361557, + -0.3831079602241516, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1836258605526938, + -0.38449924192272095, + 0.8037753744212078 + ], + "closest_button": [ + 0.1823282241821289, + -0.3831035196781158, + 0.768746554851532 + ], + "closest_ee_minus_button": [ + 0.001297636370564903, + -0.0013957222446051576, + 0.03502881956967585 + ], + "button_min_z_position": [ + 0.1823282241821289, + -0.3831035196781158, + 0.768746554851532 + ], + "min_active_finger_to_button": 0.14447398015324794, + "closest_active_finger": [ + 0.042664237320423126, + -0.3704181909561157, + 0.8075385093688965 + ], + "closest_active_finger_button": [ + 0.1823424994945526, + -0.3831153512001037, + 0.7728759050369263 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13967826217412949, + 0.012697160243987982, + 0.034662604331970215 + ], + "min_contact_pad_to_button": 0.021262887258606585, + "closest_contact_pad": [ + 0.1823282241821289, + -0.38550326510880106, + 0.789873589580526 + ], + "closest_contact_pad_button": [ + 0.1823282241821289, + -0.3831035196781158, + 0.768746554851532 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002399745430685274, + 0.02112703472899402 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 65, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5b62b1273f400cae4f1886b810f2f8d803f9b82bef6f5749ba269110afbdbd41", + "visual_seed": 5862976636110639864, + "episode_index": 65, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_66_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_66_success.json new file mode 100644 index 0000000000000000000000000000000000000000..656cebd035ad7fe954a5f7bec888ed53117ae15f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_66_success.json @@ -0,0 +1,700 @@ +{ + "episode": 66, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.38009086015303883, + -0.08141344943704631, + 1.1646533065473625 + ], + "current_z": 1.1646533065473625, + "required_z": 0.8611066272240556, + "initial_z": 0.7611066272240556, + "lift_margin": 0.3035466793233069, + "gripper_z": 1.1542728010184933, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37594954142353254, + -0.0858695979056025, + 1.1542728010184933 + ], + "object_minus_gripper": [ + 0.004141318729506294, + 0.004456148468556187, + 0.010380505528869266 + ], + "object_to_gripper_xy": 0.006083402008183848, + "object_to_gripper_z": 0.010380505528869266, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.38009086015303883, + -0.10475761027243236, + 1.1646533065473625 + ], + "finger_b": [ + 0.36956446854249103, + -0.08141344943704631, + 1.1646533065473625 + ], + "finger_midpoint": [ + 0.37482766434776493, + -0.09308552985473934, + 1.1646533065473625 + ], + "object_minus_finger_midpoint": [ + 0.005263195805273901, + 0.01167208041769302, + 0.0 + ], + "finger_gap": 0.02560770910188927, + "fingertip_max_gap": 0.09188450812655805, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012803854550944635, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1646533065473625, + "object_top_z": 1.214416418932307, + "finger_top_clearance": 0.04976311238494446, + "fingertip_min_top_clearance": 0.014928933715483338, + "object_projection_between_fingers": 0.8310268927087657, + "object_to_finger_line_xy": 0.009595929795795623, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048442254063279025, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.890003685326716, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 361, + "max_stable_success_frames": 361, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3382422234165676, + -0.3246209242622991, + 0.8515395217613559 + ], + "target_position": [ + 0.32947081856432386, + -0.3268026122782535, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009038656187781704, + "xy_threshold": 0.08, + "gripper_dist": 0.18677619086940728, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395217613559, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07587756271364599, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08778099436470137, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1541565285656764, + "release_required_pad_clearance": 0.053890497182350686, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.790711569995973, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007962465286254883, + "max_z_decrease": 0.007962465286254883, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03505049414630466, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007962465286254883, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021353083919761904, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007962465286254883, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007962491968042818, + "max_button_displacement": 0.12, + "button_start": [ + 0.1851707398891449, + -0.3830640614032745, + 0.7768088579177856 + ], + "button_final": [ + 0.1851707398891449, + -0.3830640614032745, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1838492753132641, + -0.3845971536830508, + 0.8073004075084425 + ], + "closest_button": [ + 0.18515971302986145, + -0.38306802511215204, + 0.772307813167572 + ], + "closest_ee_minus_button": [ + -0.0013104377165973624, + -0.0015291285708987634, + 0.03499259434087043 + ], + "button_min_z_position": [ + 0.18515044450759888, + -0.3830676674842834, + 0.7688463926315308 + ], + "min_active_finger_to_button": 0.14739741243953436, + "closest_active_finger": [ + 0.042646683752536774, + -0.36905622482299805, + 0.8078086972236633 + ], + "closest_active_finger_button": [ + 0.1851806789636612, + -0.3830688297748565, + 0.77297043800354 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14253399521112442, + 0.014012604951858465, + 0.03483825922012329 + ], + "min_contact_pad_to_button": 0.021353083919761904, + "closest_contact_pad": [ + 0.18515044450759888, + -0.38582889893837513, + 0.7900201923316632 + ], + "closest_contact_pad_button": [ + 0.18515044450759888, + -0.3830676674842834, + 0.7688463926315308 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0027612314540917393, + 0.021173799700132445 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 66, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "da0b0a00d7e59bcdba4dc46e0804396c9a13df0bc413d6fb0755f8db73cf7e61", + "visual_seed": 2087765518223396889, + "episode_index": 66, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_67_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_67_success.json new file mode 100644 index 0000000000000000000000000000000000000000..caf020f006ee468bb007eb7985ef305d4854c628 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_67_success.json @@ -0,0 +1,700 @@ +{ + "episode": 67, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.38175879318004635, + -0.08608393384098027, + 1.1673378362891995 + ], + "current_z": 1.1673378362891995, + "required_z": 0.8611065676194106, + "initial_z": 0.7611065676194106, + "lift_margin": 0.3062312686697889, + "gripper_z": 1.1569302816668234, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3775483596770095, + -0.09052531286575621, + 1.1569302816668234 + ], + "object_minus_gripper": [ + 0.004210433503036848, + 0.0044413790247759405, + 0.01040755462237608 + ], + "object_to_gripper_xy": 0.006119934470663458, + "object_to_gripper_z": 0.01040755462237608, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.38175879318004635, + -0.10955987538315923, + 1.1673378362891995 + ], + "finger_b": [ + 0.371359172164957, + -0.08608393384098027, + 1.1673378362891995 + ], + "finger_midpoint": [ + 0.37655898267250165, + -0.09782190461206974, + 1.1673378362891995 + ], + "object_minus_finger_midpoint": [ + 0.0051998105075447, + 0.01173797077108947, + 0.0 + ], + "finger_gap": 0.025676291565358333, + "fingertip_max_gap": 0.09190384870617999, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012838145782679172, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1673378362891995, + "object_top_z": 1.2171405685867285, + "finger_top_clearance": 0.04980273229752896, + "fingertip_min_top_clearance": 0.01494081968925872, + "object_projection_between_fingers": 0.8359521931799564, + "object_to_finger_line_xy": 0.009508417303550174, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048451924353089995, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8319152236860008, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 366, + "max_stable_success_frames": 366, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3392947554587523, + -0.3279806566501905, + 0.851539573646635 + ], + "target_position": [ + 0.32961598974568085, + -0.3305589187109604, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.01001628379103414, + "xy_threshold": 0.08, + "gripper_dist": 0.18550830170156377, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539573646635, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07532373238124505, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08610124322050515, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15445711826587985, + "release_required_pad_clearance": 0.05305062161025258, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1315821661717185, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008105933666229248, + "max_z_decrease": 0.008105933666229248, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03498607412300395, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008105933666229248, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02107254110182033, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008105933666229248, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008105947787010702, + "max_button_displacement": 0.12, + "button_start": [ + 0.18531592190265653, + -0.38682037591934204, + 0.7768088579177856 + ], + "button_final": [ + 0.18531592190265653, + -0.38682037591934204, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18419512066313723, + -0.38579055882643887, + 0.8036556746434087 + ], + "closest_button": [ + 0.18532900512218475, + -0.3868127763271332, + 0.7687029242515564 + ], + "closest_ee_minus_button": [ + -0.0011338844590475239, + 0.0010222175006943113, + 0.034952750391852305 + ], + "button_min_z_position": [ + 0.18532900512218475, + -0.3868127763271332, + 0.7687029242515564 + ], + "min_active_finger_to_button": 0.14636442840161587, + "closest_active_finger": [ + 0.05801171064376831, + -0.4501662254333496, + 0.8108153939247131 + ], + "closest_active_finger_button": [ + 0.1853206902742386, + -0.3868238031864167, + 0.7761353254318237 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12730897963047028, + -0.06334242224693293, + 0.034680068492889404 + ], + "min_contact_pad_to_button": 0.02107254110182033, + "closest_contact_pad": [ + 0.18532900512218475, + -0.3868284103689001, + 0.7897754595538081 + ], + "closest_contact_pad_button": [ + 0.18532900512218475, + -0.3868127763271332, + 0.7687029242515564 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -1.5634041766909856e-05, + 0.021072535302251727 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 67, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5d5038c7775beb2c545a40b8ec3f8e3a43b7bc080805dae8826b9cb70e980a11", + "visual_seed": 2049055092623888272, + "episode_index": 67, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_68_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_68_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7998c66df94a0f4eecac5771075e730055c8f183 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_68_success.json @@ -0,0 +1,700 @@ +{ + "episode": 68, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3787400316649403, + -0.08623008482498197, + 1.1664834093056926 + ], + "current_z": 1.1664834093056926, + "required_z": 0.8611066272240556, + "initial_z": 0.7611066272240556, + "lift_margin": 0.305376782081637, + "gripper_z": 1.1560372769984097, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37475453408836557, + -0.0904106218912977, + 1.1560372769984097 + ], + "object_minus_gripper": [ + 0.003985497576574737, + 0.004180537066315729, + 0.010446132307282863 + ], + "object_to_gripper_xy": 0.005775905218727435, + "object_to_gripper_z": 0.010446132307282863, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3787400316649403, + -0.10970883764224387, + 1.1664834093056926 + ], + "finger_b": [ + 0.36895605349655175, + -0.08623008482498197, + 1.1664834093056926 + ], + "finger_midpoint": [ + 0.373848042580746, + -0.09796946123361291, + 1.1664834093056926 + ], + "object_minus_finger_midpoint": [ + 0.004891989084194304, + 0.011739376408630944, + 0.0 + ], + "finger_gap": 0.02543576345725812, + "fingertip_max_gap": 0.09265550340924408, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012717881728629064, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1664834093056926, + "object_top_z": 1.216285864758391, + "finger_top_clearance": 0.049802455452698347, + "fingertip_min_top_clearance": 0.014940736635809504, + "object_projection_between_fingers": 0.8520409974847036, + "object_to_finger_line_xy": 0.009031205427393286, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048827751704622044, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.5279333570421807, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 355, + "max_stable_success_frames": 355, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3368754176619949, + -0.3278997583183172, + 0.8515395812886136 + ], + "target_position": [ + 0.330354069438979, + -0.32885471287911094, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0065908968175062265, + "xy_threshold": 0.08, + "gripper_dist": 0.1823648609074278, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395812886136, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0757577077137932, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08823595665689792, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14996775036582483, + "release_required_pad_clearance": 0.05411797832844896, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.2499568021441116, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008146584033966064, + "max_z_decrease": 0.008146584033966064, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501722352250308, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008146584033966064, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02132182904174704, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 119, + "max_z_decrease_with_contact_point": 0.008146584033966064, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008146633390144842, + "max_button_displacement": 0.12, + "button_start": [ + 0.18605399131774897, + -0.385116159915924, + 0.7768088579177856 + ], + "button_final": [ + 0.18605399131774897, + -0.385116159915924, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18581493152191544, + -0.3863720184416309, + 0.8036562777027861 + ], + "closest_button": [ + 0.18602567911148066, + -0.3851145505905151, + 0.7686622738838196 + ], + "closest_ee_minus_button": [ + -0.00021074758956521333, + -0.001257467851115801, + 0.03499400381896656 + ], + "button_min_z_position": [ + 0.18602567911148066, + -0.3851145505905151, + 0.7686622738838196 + ], + "min_active_finger_to_button": 0.14602123301650724, + "closest_active_finger": [ + 0.044961631298065186, + -0.3711755871772766, + 0.8076643943786621 + ], + "closest_active_finger_button": [ + 0.1860658228397369, + -0.3851226568222046, + 0.7727747559547424 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14110419154167173, + 0.013947069644927979, + 0.03488963842391968 + ], + "min_contact_pad_to_button": 0.02132182904174704, + "closest_contact_pad": [ + 0.18602567911148066, + -0.38747788819055434, + 0.7898527205302149 + ], + "closest_contact_pad_button": [ + 0.18602567911148066, + -0.3851145505905151, + 0.7686622738838196 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0023633376000392614, + 0.021190446646395356 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 68, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5f7567331f5e0bfcc7091e3b4f4430e5e7753135a602102acb79b630664b7dc0", + "visual_seed": 7173651797204175476, + "episode_index": 68, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_69_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_69_success.json new file mode 100644 index 0000000000000000000000000000000000000000..cd943cde5309998fe0b6049552a9f58b33380a9e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_69_success.json @@ -0,0 +1,700 @@ +{ + "episode": 69, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.37697437925746585, + -0.08559941705367946, + 1.1657149551413095 + ], + "current_z": 1.1657149551413095, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.30460844712654334, + "gripper_z": 1.1554511861022776, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37299495783801506, + -0.08994089638107436, + 1.1554511861022776 + ], + "object_minus_gripper": [ + 0.00397942141945079, + 0.004341479327394898, + 0.010263769039031923 + ], + "object_to_gripper_xy": 0.0058893325244700695, + "object_to_gripper_z": 0.010263769039031923, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.37697437925746585, + -0.10886563655118317, + 1.1657149551413095 + ], + "finger_b": [ + 0.3666579558207754, + -0.08559941705367946, + 1.1657149551413095 + ], + "finger_midpoint": [ + 0.3718161675391206, + -0.09723252680243132, + 1.1657149551413095 + ], + "object_minus_finger_midpoint": [ + 0.00515821171834524, + 0.011633109748751855, + 0.0 + ], + "finger_gap": 0.02545084600226714, + "fingertip_max_gap": 0.09273950776630088, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01272542300113358, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1657149551413095, + "object_top_z": 1.2155794702719165, + "finger_top_clearance": 0.04986451513060697, + "fingertip_min_top_clearance": 0.014959354539182124, + "object_projection_between_fingers": 0.8356938299067473, + "object_to_finger_line_xy": 0.009430891691610162, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048869753883150444, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.5950852588939926, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 364, + "max_stable_success_frames": 364, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33832455992893506, + -0.3285652730890245, + 0.8515395691006044 + ], + "target_position": [ + 0.3304326313950127, + -0.33029780284218024, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008079863571255863, + "xy_threshold": 0.08, + "gripper_dist": 0.18484366450608994, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395691006044, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07527190425530873, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08679052141351949, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15357952548751555, + "release_required_pad_clearance": 0.05339526070675975, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.805746602383644, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007767021656036377, + "max_z_decrease": 0.007767021656036377, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035010449230442345, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007767021656036377, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02121883653943854, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 119, + "max_z_decrease_with_contact_point": 0.007767021656036377, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007767046438758635, + "max_button_displacement": 0.12, + "button_start": [ + 0.1861325502395629, + -0.38655924797058094, + 0.7768088579177856 + ], + "button_final": [ + 0.1861325502395629, + -0.38655924797058094, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18659856983668002, + -0.38602978318574094, + 0.807662215936606 + ], + "closest_button": [ + 0.1861219406127929, + -0.38656240701675404, + 0.7726590633392334 + ], + "closest_ee_minus_button": [ + 0.0004766292238871095, + 0.0005326238310131015, + 0.03500315259737263 + ], + "button_min_z_position": [ + 0.18611329793930043, + -0.3865630328655242, + 0.7690418362617493 + ], + "min_active_finger_to_button": 0.14564997702890936, + "closest_active_finger": [ + 0.05972662568092346, + -0.44996461272239685, + 0.8080838918685913 + ], + "closest_active_finger_button": [ + 0.1861452460289001, + -0.3865643739700317, + 0.7732606530189514 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12641862034797663, + -0.06340023875236517, + 0.03482323884963989 + ], + "min_contact_pad_to_button": 0.02121883653943854, + "closest_contact_pad": [ + 0.18611329793930043, + -0.38718173976113623, + 0.7902516506377577 + ], + "closest_contact_pad_button": [ + 0.18611329793930043, + -0.3865630328655242, + 0.7690418362617493 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0006187068956120534, + 0.02120981437600844 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 69, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b7c985c74fd8a0bdb2cf9274d8b740724a7eaa8456e494ea72caaacceb4fe40f", + "visual_seed": 4600880651808582196, + "episode_index": 69, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_6_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_6_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1fb4d212a72836871f6c0d8e03f21b88e54f329a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_6_success.json @@ -0,0 +1,700 @@ +{ + "episode": 6, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.37676532346871433, + -0.08406812063405199, + 1.1661579563060802 + ], + "current_z": 1.1661579563060802, + "required_z": 0.8611066272240556, + "initial_z": 0.7611066272240556, + "lift_margin": 0.3050513290820246, + "gripper_z": 1.1557953706901913, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37267325490189757, + -0.08831210110982149, + 1.1557953706901913 + ], + "object_minus_gripper": [ + 0.0040920685668167645, + 0.0042439804757695015, + 0.010362585615888875 + ], + "object_to_gripper_xy": 0.0058954554899721305, + "object_to_gripper_z": 0.010362585615888875, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.37676532346871433, + -0.10777872352636987, + 1.1661579563060802 + ], + "finger_b": [ + 0.3671033319536595, + -0.08406812063405199, + 1.1661579563060802 + ], + "finger_midpoint": [ + 0.37193432771118695, + -0.09592342208021093, + 1.1661579563060802 + ], + "object_minus_finger_midpoint": [ + 0.004830995757527379, + 0.011855301446158942, + 0.0 + ], + "finger_gap": 0.025603647582994583, + "fingertip_max_gap": 0.09277447641544043, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012801823791497281, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1661579563060802, + "object_top_z": 1.2159557092506934, + "finger_top_clearance": 0.049797752944613194, + "fingertip_min_top_clearance": 0.01493932588338399, + "object_projection_between_fingers": 0.8575935625455401, + "object_to_finger_line_xy": 0.008947617452544847, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048887238207720216, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.7681055588257317, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 351, + "max_stable_success_frames": 351, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3331116059873367, + -0.3278161054803066, + 0.8515395813372459 + ], + "target_position": [ + 0.3265860560022273, + -0.3283752608854113, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006549462372990559, + "xy_threshold": 0.08, + "gripper_dist": 0.18436555750512224, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395813372459, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07514537055750656, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08830172276207808, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1533079089094892, + "release_required_pad_clearance": 0.05415086138103904, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.3167123984236837, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0078046321868896484, + "max_z_decrease": 0.0078046321868896484, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500639265912978, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0078046321868896484, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02133069450562453, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0078046321868896484, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007804657650732238, + "max_button_displacement": 0.12, + "button_start": [ + 0.18228597939014426, + -0.3846367299556732, + 0.7768088579177856 + ], + "button_final": [ + 0.18228597939014426, + -0.3846367299556732, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18152018891604313, + -0.3851985398033085, + 0.8070408920560812 + ], + "closest_button": [ + 0.1822735965251922, + -0.3846376538276672, + 0.7720471024513245 + ], + "closest_ee_minus_button": [ + -0.000753407609149076, + -0.0005608859756413009, + 0.03499378960475674 + ], + "button_min_z_position": [ + 0.18226614594459528, + -0.3846387565135956, + 0.769004225730896 + ], + "min_active_finger_to_button": 0.14695426698948463, + "closest_active_finger": [ + 0.04055699706077576, + -0.3679179847240448, + 0.8080855011940002 + ], + "closest_active_finger_button": [ + 0.18229721486568443, + -0.38464277982711786, + 0.773077666759491 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14174021780490867, + 0.016724795103073065, + 0.03500783443450928 + ], + "min_contact_pad_to_button": 0.02133069450562453, + "closest_contact_pad": [ + 0.18226614594459528, + -0.38656943300960406, + 0.7902473661851707 + ], + "closest_contact_pad_button": [ + 0.18226614594459528, + -0.3846387565135956, + 0.769004225730896 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0019306764960084766, + 0.021243140454274667 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 6, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "172679a4c3a9ea50559b7ce82d0d7738c6daaf91170a28d64eaea5a2750c5b50", + "visual_seed": 9175793917036887697, + "episode_index": 6, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_70_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_70_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bafa897b367bd48a376704a3eb1b32f9e0a99f0c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_70_success.json @@ -0,0 +1,700 @@ +{ + "episode": 70, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.38556789889899146, + -0.08550112857930386, + 1.1656828817441922 + ], + "current_z": 1.1656828817441922, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.30457637372942614, + "gripper_z": 1.1551964112130864, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.38155877315756725, + -0.08980230870329552, + 1.1551964112130864 + ], + "object_minus_gripper": [ + 0.004009125741424202, + 0.004301180123991652, + 0.010486470531105851 + ], + "object_to_gripper_xy": 0.00587990133161867, + "object_to_gripper_z": 0.010486470531105851, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.38556789889899146, + -0.10883043205041346, + 1.1656828817441922 + ], + "finger_b": [ + 0.3753708947588226, + -0.08550112857930386, + 1.1656828817441922 + ], + "finger_midpoint": [ + 0.380469396828907, + -0.09716578031485866, + 1.1656828817441922 + ], + "object_minus_finger_midpoint": [ + 0.005098502070084443, + 0.011664651735554796, + 0.0 + ], + "finger_gap": 0.02546046531157171, + "fingertip_max_gap": 0.09260602115883645, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012730232655785866, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1656828817441922, + "object_top_z": 1.2155613067099817, + "finger_top_clearance": 0.049878424965789536, + "fingertip_min_top_clearance": 0.01496352748973686, + "object_projection_between_fingers": 0.8395969882911242, + "object_to_finger_line_xy": 0.009343466475219492, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04880301057941823, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.4153206834320424, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 364, + "max_stable_success_frames": 364, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3346063353648491, + -0.32999201553023977, + 0.8515395789643949 + ], + "target_position": [ + 0.32694181981688697, + -0.33166207262250735, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007844353974444681, + "xy_threshold": 0.08, + "gripper_dist": 0.18461798452576603, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395789643949, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07573843777360083, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08723483958276228, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15222034243584212, + "release_required_pad_clearance": 0.05361741979138114, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.2451355159813913, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008032500743865967, + "max_z_decrease": 0.008032500743865967, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350264397300034, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008032500743865967, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021189258556704848, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008032500743865967, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00803251928281893, + "max_button_displacement": 0.12, + "button_start": [ + 0.18264174461364743, + -0.38792353868484497, + 0.7768088579177856 + ], + "button_final": [ + 0.18264174461364743, + -0.38792353868484497, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18151121185950303, + -0.3874352555518815, + 0.8069587434015223 + ], + "closest_button": [ + 0.18262866139411923, + -0.387926697731018, + 0.7719535827636719 + ], + "closest_ee_minus_button": [ + -0.001117449534616205, + 0.000491442179136492, + 0.03500516063785042 + ], + "button_min_z_position": [ + 0.18262468278408048, + -0.3879261314868927, + 0.7687763571739197 + ], + "min_active_finger_to_button": 0.14699918723573158, + "closest_active_finger": [ + 0.05421487241983414, + -0.45043057203292847, + 0.8081539869308472 + ], + "closest_active_finger_button": [ + 0.18265174329280853, + -0.3879288434982299, + 0.7734226584434509 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1284368708729744, + -0.06250172853469854, + 0.03473132848739624 + ], + "min_contact_pad_to_button": 0.021189258556704848, + "closest_contact_pad": [ + 0.18262468278408048, + -0.3887032370782649, + 0.7899513609539134 + ], + "closest_contact_pad_button": [ + 0.18262468278408048, + -0.3879261314868927, + 0.7687763571739197 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0007771055913721736, + 0.021175003779993706 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 70, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "50079ff78c6ae50915b3de156d93be8d9c8b5a0fc9ce2382d5818649fc91c8a9", + "visual_seed": 1802826127557706807, + "episode_index": 70, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_71_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_71_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2549726a74b3bd3c6d173cf0e68e310b4cc6c781 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_71_success.json @@ -0,0 +1,700 @@ +{ + "episode": 71, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3792852724488115, + -0.0824953919007009, + 1.1644324595465145 + ], + "current_z": 1.1644324595465145, + "required_z": 0.8611066868287003, + "initial_z": 0.7611066868287003, + "lift_margin": 0.30332577271781425, + "gripper_z": 1.1540675195063945, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3752964522454648, + -0.08684544135363925, + 1.1540675195063945 + ], + "object_minus_gripper": [ + 0.003988820203346677, + 0.004350049452938348, + 0.010364940040120008 + ], + "object_to_gripper_xy": 0.0059020010892608145, + "object_to_gripper_z": 0.010364940040120008, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3792852724488115, + -0.10569832575680946, + 1.1644324595465145 + ], + "finger_b": [ + 0.3688739465953621, + -0.0824953919007009, + 1.1644324595465145 + ], + "finger_midpoint": [ + 0.3740796095220868, + -0.09409685882875518, + 1.1644324595465145 + ], + "object_minus_finger_midpoint": [ + 0.005205662926724697, + 0.011601466928054277, + 0.0 + ], + "finger_gap": 0.025431709450165797, + "fingertip_max_gap": 0.09247056745209883, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012715854725082899, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1644324595465145, + "object_top_z": 1.214197521865925, + "finger_top_clearance": 0.04976506231941036, + "fingertip_min_top_clearance": 0.014929518695823107, + "object_projection_between_fingers": 0.832405033133061, + "object_to_finger_line_xy": 0.00949890158211146, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04873528372604942, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.3762997219035653, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 358, + "max_stable_success_frames": 358, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3309762016627993, + -0.3261967860587977, + 0.8515395697632974 + ], + "target_position": [ + 0.32297781533350933, + -0.32782919616933803, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008163268134856695, + "xy_threshold": 0.08, + "gripper_dist": 0.18443833394904818, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395697632974, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07543543673048081, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08675539624578003, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15277820378460225, + "release_required_pad_clearance": 0.05337769812289002, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.7711724961070892, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007745265960693359, + "max_z_decrease": 0.007745265960693359, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03509215227433976, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007745265960693359, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021164254874105448, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007745265960693359, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0077452853128332794, + "max_button_displacement": 0.12, + "button_start": [ + 0.1786777377128601, + -0.38409066200256337, + 0.7768088579177856 + ], + "button_final": [ + 0.1786777377128601, + -0.38409066200256337, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17823952964508377, + -0.38258541754179604, + 0.8076288627686957 + ], + "closest_button": [ + 0.17866767942905426, + -0.38409483432769764, + 0.7725718021392822 + ], + "closest_ee_minus_button": [ + -0.0004281497839704884, + 0.0015094167859016072, + 0.035057060629413495 + ], + "button_min_z_position": [ + 0.17866086959838867, + -0.38409456610679615, + 0.7690635919570923 + ], + "min_active_finger_to_button": 0.14595716519904195, + "closest_active_finger": [ + 0.05111230909824371, + -0.4460078477859497, + 0.8110308051109314 + ], + "closest_active_finger_button": [ + 0.17868201434612274, + -0.38409265875816334, + 0.7764479517936707 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12756970524787903, + -0.061915189027786366, + 0.03458285331726074 + ], + "min_contact_pad_to_button": 0.021164254874105448, + "closest_contact_pad": [ + 0.17866086959838867, + -0.38409456610679615, + 0.7902278468311977 + ], + "closest_contact_pad_button": [ + 0.17866086959838867, + -0.38409456610679615, + 0.7690635919570923 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021164254874105448 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 71, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a62de6f589231cff27a525053c43800fb3189bf5fd6a00f81b5b4d1cb538806a", + "visual_seed": 6890977144405188727, + "episode_index": 71, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_72_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_72_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3e74fecfb0c301f96ab9dc648696f4ab77419360 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_72_success.json @@ -0,0 +1,700 @@ +{ + "episode": 72, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.38452083654217795, + -0.0886357529848622, + 1.1679415284849495 + ], + "current_z": 1.1679415284849495, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.3068350204701835, + "gripper_z": 1.157453635747365, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3805655260932037, + -0.09293633390240726, + 1.157453635747365 + ], + "object_minus_gripper": [ + 0.003955310448974236, + 0.004300580917545052, + 0.010487892737584437 + ], + "object_to_gripper_xy": 0.005842899706149115, + "object_to_gripper_z": 0.010487892737584437, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.38452083654217795, + -0.11188043176300663, + 1.1679415284849495 + ], + "finger_b": [ + 0.374261442626667, + -0.0886357529848622, + 1.1679415284849495 + ], + "finger_midpoint": [ + 0.3793911395844225, + -0.10025809237393442, + 1.1679415284849495 + ], + "object_minus_finger_midpoint": [ + 0.005129696957755447, + 0.011622339389072214, + 0.0 + ], + "finger_gap": 0.025408074602628613, + "fingertip_max_gap": 0.0926794836702938, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012704037301314294, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1679415284849495, + "object_top_z": 1.2178260637395808, + "finger_top_clearance": 0.049884535254631324, + "fingertip_min_top_clearance": 0.01496536057638943, + "object_projection_between_fingers": 0.836957848202678, + "object_to_finger_line_xy": 0.009385847599795268, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0488397418351469, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.4861047001325502, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 367, + "max_stable_success_frames": 367, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3352547199925217, + -0.32721860525653856, + 0.8515395209787106 + ], + "target_position": [ + 0.3273384221094955, + -0.3289375703154678, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008100778545709356, + "xy_threshold": 0.08, + "gripper_dist": 0.183990693386336, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395209787106, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07553488123774679, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08658697158430238, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.152111655493149, + "release_required_pad_clearance": 0.05329348579215119, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.6056764226266451, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007915854454040527, + "max_z_decrease": 0.007915854454040527, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034996596759436505, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007915854454040527, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02130761461965243, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007915854454040527, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007915878958418898, + "max_button_displacement": 0.12, + "button_start": [ + 0.18303835391998285, + -0.38519904017448425, + 0.7768088579177856 + ], + "button_final": [ + 0.18303835391998285, + -0.38519904017448425, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18261492083847336, + -0.38550540973242325, + 0.8053339247822605 + ], + "closest_button": [ + 0.18302245438098902, + -0.3851994276046753, + 0.7703410387039185 + ], + "closest_ee_minus_button": [ + -0.000407533542515659, + -0.0003059821277479613, + 0.034992886078342056 + ], + "button_min_z_position": [ + 0.18301866948604578, + -0.38519972562789917, + 0.7688930034637451 + ], + "min_active_finger_to_button": 0.14650951575530116, + "closest_active_finger": [ + 0.04187610745429993, + -0.36787039041519165, + 0.8081206679344177 + ], + "closest_active_finger_button": [ + 0.1830500960350036, + -0.3852055072784423, + 0.772986114025116 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14117398858070368, + 0.017335116863250677, + 0.03513455390930176 + ], + "min_contact_pad_to_button": 0.02130761461965243, + "closest_contact_pad": [ + 0.18301866948604578, + -0.3868668431543052, + 0.7901352999481833 + ], + "closest_contact_pad_button": [ + 0.18301866948604578, + -0.38519972562789917, + 0.7688930034637451 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0016671175264060256, + 0.021242296484438206 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 72, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "32711aee930cd9303142e9ec5634f5824ec3ec04b4d359a110633f5b38e0df1b", + "visual_seed": 8441462912073638229, + "episode_index": 72, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_73_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_73_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4aa316a41db290091bf3ddae159535972c782b62 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_73_success.json @@ -0,0 +1,700 @@ +{ + "episode": 73, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3783578485513177, + -0.0893496253034499, + 1.1644654728321027 + ], + "current_z": 1.1644654728321027, + "required_z": 0.8611066272240555, + "initial_z": 0.7611066272240555, + "lift_margin": 0.30335884560804716, + "gripper_z": 1.1540538943091043, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3742097732595158, + -0.09384914172657899, + 1.1540538943091043 + ], + "object_minus_gripper": [ + 0.004148075291801889, + 0.004499516423129082, + 0.010411578522998344 + ], + "object_to_gripper_xy": 0.006119818352571069, + "object_to_gripper_z": 0.010411578522998344, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3783578485513177, + -0.11265400394650649, + 1.1644654728321027 + ], + "finger_b": [ + 0.3677022659578493, + -0.0893496253034499, + 1.1644654728321027 + ], + "finger_midpoint": [ + 0.3730300572545835, + -0.1010018146249782, + 1.1644654728321027 + ], + "object_minus_finger_midpoint": [ + 0.005327791296734219, + 0.011652189321528297, + 0.0 + ], + "finger_gap": 0.025624900084589192, + "fingertip_max_gap": 0.09153347955402699, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012812450042294603, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1644654728321027, + "object_top_z": 1.2142663881407216, + "finger_top_clearance": 0.049800915308618965, + "fingertip_min_top_clearance": 0.014940274592585656, + "object_projection_between_fingers": 0.8270860475029367, + "object_to_finger_line_xy": 0.009690641938147199, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0482667397770135, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.476230374496956, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 364, + "max_stable_success_frames": 364, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3379945741544542, + -0.32673796856559223, + 0.8515395183797454 + ], + "target_position": [ + 0.32864746735736466, + -0.3292992359270602, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009691671474679624, + "xy_threshold": 0.08, + "gripper_dist": 0.1858655133178214, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395183797454, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07588125677622548, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08693640838625331, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15329242887383465, + "release_required_pad_clearance": 0.05346820419312666, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.949562923198902, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008042693138122559, + "max_z_decrease": 0.008042693138122559, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035007666895587215, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008042693138122559, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021354200477302337, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008042693138122559, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008042727132919064, + "max_button_displacement": 0.12, + "button_start": [ + 0.18434739112853998, + -0.3855606913566589, + 0.7768088579177856 + ], + "button_final": [ + 0.18434739112853998, + -0.3855606913566589, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18380853331413521, + -0.38651520711973886, + 0.8051495014372231 + ], + "closest_button": [ + 0.18433029949665067, + -0.385561853647232, + 0.7701587080955505 + ], + "closest_ee_minus_button": [ + -0.000521766182515454, + -0.0009533534725068571, + 0.034990793341672544 + ], + "button_min_z_position": [ + 0.18432401120662684, + -0.3855611383914947, + 0.7687661647796631 + ], + "min_active_finger_to_button": 0.1465114340660722, + "closest_active_finger": [ + 0.042964302003383636, + -0.36985594034194946, + 0.8079243898391724 + ], + "closest_active_finger_button": [ + 0.1843594461679458, + -0.3855666518211364, + 0.7729074358940125 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14139514416456217, + 0.015710711479186956, + 0.03501695394515991 + ], + "min_contact_pad_to_button": 0.021354200477302337, + "closest_contact_pad": [ + 0.18432401120662684, + -0.3877710628465993, + 0.790005706015941 + ], + "closest_contact_pad_button": [ + 0.18432401120662684, + -0.3855611383914947, + 0.7687661647796631 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002209924455104595, + 0.021239541236277915 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 73, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1726e8df3e1cb977a55477414accf83d3fcd5f6fbae1022d3fa3f6debd478d70", + "visual_seed": 9053451483882138893, + "episode_index": 73, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_74_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_74_success.json new file mode 100644 index 0000000000000000000000000000000000000000..99a374ef9031750d76c7396d23467b55c1437f78 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_74_success.json @@ -0,0 +1,700 @@ +{ + "episode": 74, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.38321963744166676, + -0.0923426625680313, + 1.1651754338664482 + ], + "current_z": 1.1651754338664482, + "required_z": 0.8611066868287001, + "initial_z": 0.7611066868287001, + "lift_margin": 0.3040687470377481, + "gripper_z": 1.154700286517728, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37903297283518617, + -0.09675048530153575, + 1.154700286517728 + ], + "object_minus_gripper": [ + 0.004186664606480595, + 0.004407822733504457, + 0.010475147348720126 + ], + "object_to_gripper_xy": 0.006079232005537872, + "object_to_gripper_z": 0.010475147348720126, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.38321963744166676, + -0.11590045028342151, + 1.1651754338664482 + ], + "finger_b": [ + 0.37299286567659057, + -0.0923426625680313, + 1.1651754338664482 + ], + "finger_midpoint": [ + 0.3781062515591287, + -0.1041215564257264, + 1.1651754338664482 + ], + "object_minus_finger_midpoint": [ + 0.0051133858825380685, + 0.011778893857695108, + 0.0 + ], + "finger_gap": 0.025681826702521567, + "fingertip_max_gap": 0.09157783780988368, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012840913351260773, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1651754338664482, + "object_top_z": 1.2150176386745335, + "finger_top_clearance": 0.04984220480808532, + "fingertip_min_top_clearance": 0.014952661442425595, + "object_projection_between_fingers": 0.8414284376024953, + "object_to_finger_line_xy": 0.009380957244437604, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048288918904941844, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5427719437320913, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 366, + "max_stable_success_frames": 366, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3377130488102402, + -0.3299583736999448, + 0.8515395796825715 + ], + "target_position": [ + 0.32973240087447514, + -0.3316751382515566, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008163211500402421, + "xy_threshold": 0.08, + "gripper_dist": 0.18519713756938155, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395796825715, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07516853825144293, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08537018134540102, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15434547322721776, + "release_required_pad_clearance": 0.05268509067270051, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4261249091023652, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007923364639282227, + "max_z_decrease": 0.007923364639282227, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03512934718993351, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007923364639282227, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021228150959892278, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007923364639282227, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00792338844920461, + "max_button_displacement": 0.12, + "button_start": [ + 0.18543232977390292, + -0.3879365921020508, + 0.7768088579177856 + ], + "button_final": [ + 0.18543232977390292, + -0.3879365921020508, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18312098589385586, + -0.3860994555790303, + 0.8079799075065051 + ], + "closest_button": [ + 0.1854449510574341, + -0.3879443705081939, + 0.7729761004447937 + ], + "closest_ee_minus_button": [ + -0.0023239651635782455, + 0.0018449149291636102, + 0.035003807061711356 + ], + "button_min_z_position": [ + 0.1854129135608673, + -0.38793602585792536, + 0.7688854932785034 + ], + "min_active_finger_to_button": 0.1477037525431639, + "closest_active_finger": [ + 0.05487919598817825, + -0.4473874270915985, + 0.8081258535385132 + ], + "closest_active_finger_button": [ + 0.1854449510574341, + -0.3879443705081939, + 0.7729761004447937 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.13056575506925586, + -0.059443056583404597, + 0.03514975309371948 + ], + "min_contact_pad_to_button": 0.021228150959892278, + "closest_contact_pad": [ + 0.1854129135608673, + -0.38793602585792536, + 0.7901136442383957 + ], + "closest_contact_pad_button": [ + 0.1854129135608673, + -0.38793602585792536, + 0.7688854932785034 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021228150959892278 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 74, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7cc66c32c88507765ed0cd0f74160024b5b8bd50dac02acd643ac2120ee9d009", + "visual_seed": 497793919523695516, + "episode_index": 74, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_75_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_75_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5c6fe9f32e1d7b3aa96cc093e373da5c9a0bf568 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_75_success.json @@ -0,0 +1,700 @@ +{ + "episode": 75, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.38480520072737756, + -0.0906756557146136, + 1.1679397639086537 + ], + "current_z": 1.1679397639086537, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.30683325589388766, + "gripper_z": 1.1573875498955783, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3809074821331332, + -0.09496482238586214, + 1.1573875498955783 + ], + "object_minus_gripper": [ + 0.0038977185942443704, + 0.00428916667124854, + 0.010552214013075378 + ], + "object_to_gripper_xy": 0.005795615668215724, + "object_to_gripper_z": 0.010552214013075378, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.38480520072737756, + -0.11383086758315566, + 1.1679397639086537 + ], + "finger_b": [ + 0.3744967913863182, + -0.0906756557146136, + 1.1679397639086537 + ], + "finger_midpoint": [ + 0.3796509960568479, + -0.10225326164888462, + 1.1679397639086537 + ], + "object_minus_finger_midpoint": [ + 0.005154204670529683, + 0.011577605934271026, + 0.0 + ], + "finger_gap": 0.02534614644911355, + "fingertip_max_gap": 0.09234952204994959, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012673073224556769, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1679397639086537, + "object_top_z": 1.2177644368302192, + "finger_top_clearance": 0.04982467292156545, + "fingertip_min_top_clearance": 0.014947401876469634, + "object_projection_between_fingers": 0.8345908873454064, + "object_to_finger_line_xy": 0.009417344873277021, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0486747610249748, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.207030257521411, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 368, + "max_stable_success_frames": 368, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33776269526899105, + -0.32739902905314033, + 0.8515395735091017 + ], + "target_position": [ + 0.32979445972597915, + -0.3291101933037039, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00814989943258964, + "xy_threshold": 0.08, + "gripper_dist": 0.18278622115153015, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395735091017, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07512939618189209, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08513142977071629, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15211648187443902, + "release_required_pad_clearance": 0.05256571488535815, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.1978234334549555, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008148491382598877, + "max_z_decrease": 0.008148491382598877, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502713185577093, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008148491382598877, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02115487081617451, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008148491382598877, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008148493286431848, + "max_button_displacement": 0.12, + "button_start": [ + 0.18549439311027527, + -0.3853716552257538, + 0.7768088579177856 + ], + "button_final": [ + 0.18549439311027527, + -0.3853716552257538, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18613341580067438, + -0.3841589515419602, + 0.80366081839038 + ], + "closest_button": [ + 0.18549269437789917, + -0.3853663504123688, + 0.7686603665351868 + ], + "closest_ee_minus_button": [ + 0.0006407214227752145, + 0.0012073988704085492, + 0.03500045185519318 + ], + "button_min_z_position": [ + 0.18549269437789917, + -0.3853663504123688, + 0.7686603665351868 + ], + "min_active_finger_to_button": 0.14479794031810472, + "closest_active_finger": [ + 0.06002185493707657, + -0.4487440288066864, + 0.8080424666404724 + ], + "closest_active_finger_button": [ + 0.18550276756286618, + -0.38537696003913874, + 0.773320734500885 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12548091262578961, + -0.06336706876754766, + 0.0347217321395874 + ], + "min_contact_pad_to_button": 0.02115487081617451, + "closest_contact_pad": [ + 0.18549269437789917, + -0.3853663504123688, + 0.7898152373513613 + ], + "closest_contact_pad_button": [ + 0.18549269437789917, + -0.3853663504123688, + 0.7686603665351868 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02115487081617451 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 75, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ad672c3b9f573693208751f071cd597da4d11b897134076e34b7a6b4b2047cdc", + "visual_seed": 5544756155118974006, + "episode_index": 75, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_76_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_76_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e61559123b1bd19e58978d0eae9738a5b79fe574 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_76_success.json @@ -0,0 +1,700 @@ +{ + "episode": 76, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3849704820417059, + -0.09117795824290811, + 1.1684201241363088 + ], + "current_z": 1.1684201241363088, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.3073136757261876, + "gripper_z": 1.1578681408645117, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3811023346093457, + -0.09546371833253536, + 1.1578681408645117 + ], + "object_minus_gripper": [ + 0.0038681474323601917, + 0.00428576008962725, + 0.010551983271797072 + ], + "object_to_gripper_xy": 0.005773240347007607, + "object_to_gripper_z": 0.010551983271797072, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3849704820417059, + -0.1142913974695276, + 1.1684201241363088 + ], + "finger_b": [ + 0.37463898568274484, + -0.09117795824290811, + 1.1684201241363088 + ], + "finger_midpoint": [ + 0.37980473386222535, + -0.10273467785621786, + 1.1684201241363088 + ], + "object_minus_finger_midpoint": [ + 0.005165748179480567, + 0.011556719613309743, + 0.0 + ], + "finger_gap": 0.02531740290586415, + "fingertip_max_gap": 0.09229120137759286, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012658701452932086, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1684201241363088, + "object_top_z": 1.2182193119338496, + "finger_top_clearance": 0.04979918779754078, + "fingertip_min_top_clearance": 0.014939756339262233, + "object_projection_between_fingers": 0.8334716619779167, + "object_to_finger_line_xy": 0.009432105421744372, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048645600688796434, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.18992481439677, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 369, + "max_stable_success_frames": 369, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33380325672098865, + -0.332358359249658, + 0.8515395579344096 + ], + "target_position": [ + 0.3247574837857964, + -0.3346814429390379, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009339310778795176, + "xy_threshold": 0.08, + "gripper_dist": 0.18567034093034934, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395579344096, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07566325649448208, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08632366598532175, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15363765012838632, + "release_required_pad_clearance": 0.053161832992660876, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3481129861082353, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008045673370361328, + "max_z_decrease": 0.008045673370361328, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03509603866396163, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008045673370361328, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021118906356554334, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008045673370361328, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008045680093289884, + "max_button_displacement": 0.12, + "button_start": [ + 0.1804574131965637, + -0.39094290137290955, + 0.7768088579177856 + ], + "button_final": [ + 0.1804574131965637, + -0.39094290137290955, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17893153959481822, + -0.38985334752159573, + 0.8072807964149743 + ], + "closest_button": [ + 0.1804467588663101, + -0.39094564318656916, + 0.7722344994544983 + ], + "closest_ee_minus_button": [ + -0.0015152192714918689, + 0.0010922956649734306, + 0.03504629696047601 + ], + "button_min_z_position": [ + 0.1804470121860504, + -0.39094290137290955, + 0.7687631845474243 + ], + "min_active_finger_to_button": 0.14706123769854798, + "closest_active_finger": [ + 0.0518132746219635, + -0.45325541496276855, + 0.8108198642730713 + ], + "closest_active_finger_button": [ + 0.18046091496944422, + -0.3909450769424438, + 0.7762624621391296 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12864764034748072, + -0.06231033802032476, + 0.03455740213394165 + ], + "min_contact_pad_to_button": 0.021118906356554334, + "closest_contact_pad": [ + 0.1804470121860504, + -0.39104612758146867, + 0.7898818386249639 + ], + "closest_contact_pad_button": [ + 0.1804470121860504, + -0.39094290137290955, + 0.7687631845474243 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00010322620855912623, + 0.021118654077539545 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 76, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5bc7295cd39babcfe6af11994e1ee0c9abbbff1aeb2121c13617bc410e399764", + "visual_seed": 4119498527948334900, + "episode_index": 76, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_77_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_77_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d97db6a40c120f9589f106746d58f903717766ad --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_77_success.json @@ -0,0 +1,700 @@ +{ + "episode": 77, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.377067006860558, + -0.08320441733761107, + 1.1644140167364347 + ], + "current_z": 1.1644140167364347, + "required_z": 0.8611066868287002, + "initial_z": 0.7611066868287002, + "lift_margin": 0.30330732990773457, + "gripper_z": 1.1541317398482036, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3728923625996372, + -0.08762807972800178, + 1.1541317398482036 + ], + "object_minus_gripper": [ + 0.00417464426092079, + 0.004423662390390715, + 0.010282276888231134 + ], + "object_to_gripper_xy": 0.006082470193054478, + "object_to_gripper_z": 0.010282276888231134, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.377067006860558, + -0.10668106448025833, + 1.1644140167364347 + ], + "finger_b": [ + 0.3667301737564796, + -0.08320441733761107, + 1.1644140167364347 + ], + "finger_midpoint": [ + 0.3718985903085188, + -0.0949427409089347, + 1.1644140167364347 + ], + "object_minus_finger_midpoint": [ + 0.005168416552039201, + 0.011738323571323636, + 0.0 + ], + "finger_gap": 0.025651570705941942, + "fingertip_max_gap": 0.09229894698039617, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012825785352970978, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1644140167364347, + "object_top_z": 1.214233675693888, + "finger_top_clearance": 0.04981965895745333, + "fingertip_min_top_clearance": 0.014945897687236032, + "object_projection_between_fingers": 0.8376145615105333, + "object_to_finger_line_xy": 0.009460402489141565, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04864947349019809, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.2774734818231908, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 360, + "max_stable_success_frames": 360, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3399884048007439, + -0.3306248677491369, + 0.8515396336427009 + ], + "target_position": [ + 0.33260199737157, + -0.33231382349022476, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007577043368300661, + "xy_threshold": 0.08, + "gripper_dist": 0.18535288029629146, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396336427009, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07583559915260066, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0872571643941895, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1528706746776413, + "release_required_pad_clearance": 0.05362858219709475, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.267338364335312, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007860302925109863, + "max_z_decrease": 0.007860302925109863, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500631693525957, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007860302925109863, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021249775003303866, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 119, + "max_z_decrease_with_contact_point": 0.007860302925109863, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00786032674858121, + "max_button_displacement": 0.12, + "button_start": [ + 0.18830192089080805, + -0.3885752856731414, + 0.7768088579177856 + ], + "button_final": [ + 0.18830192089080805, + -0.3885752856731414, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18776305486910766, + -0.38791404327827056, + 0.8067474457888131 + ], + "closest_button": [ + 0.18828909099102015, + -0.38857614994049067, + 0.771751344203949 + ], + "closest_ee_minus_button": [ + -0.0005260361219124876, + 0.0006621066622201077, + 0.0349961015848641 + ], + "button_min_z_position": [ + 0.1882826685905456, + -0.388577252626419, + 0.7689485549926758 + ], + "min_active_finger_to_button": 0.14640985363038092, + "closest_active_finger": [ + 0.06073763966560364, + -0.4513385593891144, + 0.808165967464447 + ], + "closest_active_finger_button": [ + 0.1883135885000228, + -0.3885801434516907, + 0.7732145190238953 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12757594883441917, + -0.0627584159374237, + 0.03495144844055176 + ], + "min_contact_pad_to_button": 0.021249775003303866, + "closest_contact_pad": [ + 0.1882826685905456, + -0.3890938578115056, + 0.7901920494503628 + ], + "closest_contact_pad_button": [ + 0.1882826685905456, + -0.388577252626419, + 0.7689485549926758 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0005166051850865605, + 0.02124349445768703 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 77, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "de854589c985164a9511cf53e66cbc980133ea674f93b94829c8f7b107998c87", + "visual_seed": 7555513603316058829, + "episode_index": 77, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_78_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_78_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2f8a21cfb6312f412a31c9de46438eb5a7c9b44d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_78_success.json @@ -0,0 +1,700 @@ +{ + "episode": 78, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.38578643159571807, + -0.08970033087352867, + 1.166810922700709 + ], + "current_z": 1.166810922700709, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.3057044742905879, + "gripper_z": 1.1563079264203697, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.38174491271935806, + -0.09400838053419988, + 1.1563079264203697 + ], + "object_minus_gripper": [ + 0.004041518876360006, + 0.0043080496606712065, + 0.01050299628033935 + ], + "object_to_gripper_xy": 0.005907043821302119, + "object_to_gripper_z": 0.01050299628033935, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.38578643159571807, + -0.11306889502236071, + 1.166810922700709 + ], + "finger_b": [ + 0.37560261873859635, + -0.08970033087352867, + 1.166810922700709 + ], + "finger_midpoint": [ + 0.3806945251671572, + -0.1013846129479447, + 1.166810922700709 + ], + "object_minus_finger_midpoint": [ + 0.005091906428560888, + 0.01168428207441602, + 0.0 + ], + "finger_gap": 0.02549117170094297, + "fingertip_max_gap": 0.09251562218591855, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012745585850471496, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.166810922700709, + "object_top_z": 1.2166710674873813, + "finger_top_clearance": 0.04986014478667222, + "fingertip_min_top_clearance": 0.014958043436001633, + "object_projection_between_fingers": 0.8403969364522222, + "object_to_finger_line_xy": 0.009335823665671147, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04875781109295928, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.239761037886378, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 363, + "max_stable_success_frames": 363, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33445481423323487, + -0.32498983446423213, + 0.8515395581411211 + ], + "target_position": [ + 0.3270284151182691, + -0.326520992258267, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007582601664666177, + "xy_threshold": 0.08, + "gripper_dist": 0.18364673223887815, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395581411211, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07564847150947611, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08598023807053255, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1515781697137632, + "release_required_pad_clearance": 0.05299011903526628, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0141256790360558, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007870852947235107, + "max_z_decrease": 0.007870852947235107, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499705588011464, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007870852947235107, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021286320773116662, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007870852947235107, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007870879209372152, + "max_button_displacement": 0.12, + "button_start": [ + 0.18272833526134488, + -0.38278245925903315, + 0.7768088579177856 + ], + "button_final": [ + 0.18272833526134488, + -0.38278245925903315, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18239431920823765, + -0.38260782696352647, + 0.8049364528591315 + ], + "closest_button": [ + 0.18271069228649134, + -0.3827839791774749, + 0.7699412703514099 + ], + "closest_ee_minus_button": [ + -0.00031637307825369, + 0.00017615221394845504, + 0.0349951825077216 + ], + "button_min_z_position": [ + 0.18270812928676605, + -0.3827847242355346, + 0.7689380049705505 + ], + "min_active_finger_to_button": 0.14624708822413304, + "closest_active_finger": [ + 0.05488289147615433, + -0.4445599615573883, + 0.8079869747161865 + ], + "closest_active_finger_button": [ + 0.18274028599262235, + -0.38278850913047785, + 0.7729871869087219 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12785739451646802, + -0.061771452426910456, + 0.0349997878074646 + ], + "min_contact_pad_to_button": 0.021286320773116662, + "closest_contact_pad": [ + 0.18270812928676605, + -0.38392593526458385, + 0.7901937121910406 + ], + "closest_contact_pad_button": [ + 0.18270812928676605, + -0.3827847242355346, + 0.7689380049705505 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0011412110290492383, + 0.021255707220490083 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 78, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3b9815adbd2b7193a149ca30f086f5a6d630bdb4ffc43e940ecb23e9f21fc8d6", + "visual_seed": 4235431479950400980, + "episode_index": 78, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_79_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_79_success.json new file mode 100644 index 0000000000000000000000000000000000000000..061b2a6fffbfc9ddc6222fac12f91ca26ff9a8b5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_79_success.json @@ -0,0 +1,700 @@ +{ + "episode": 79, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3804135043113859, + -0.08208419411570148, + 1.1677059278748438 + ], + "current_z": 1.1677059278748438, + "required_z": 0.8611066272240556, + "initial_z": 0.7611066272240556, + "lift_margin": 0.3065993006507882, + "gripper_z": 1.157327324504973, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3764454789526811, + -0.08640823873691904, + 1.157327324504973 + ], + "object_minus_gripper": [ + 0.003968025358704774, + 0.004324044621217563, + 0.010378603369870731 + ], + "object_to_gripper_xy": 0.0058687807195025345, + "object_to_gripper_z": 0.010378603369870731, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3804135043113859, + -0.10529115085651977, + 1.1677059278748438 + ], + "finger_b": [ + 0.3700652373713131, + -0.08208419411570148, + 1.1677059278748438 + ], + "finger_midpoint": [ + 0.3752393708413495, + -0.09368767248611062, + 1.1677059278748438 + ], + "object_minus_finger_midpoint": [ + 0.005174133470036368, + 0.011603478370409148, + 0.0 + ], + "finger_gap": 0.02540963340611618, + "fingertip_max_gap": 0.09260744259613055, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012704816703058078, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1677059278748438, + "object_top_z": 1.2174765222924426, + "finger_top_clearance": 0.04977059441759879, + "fingertip_min_top_clearance": 0.014931178325279603, + "object_projection_between_fingers": 0.8341412272968082, + "object_to_finger_line_xy": 0.009451210073849537, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048803721298065275, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.499985306265182, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 362, + "max_stable_success_frames": 362, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33582737273841534, + -0.32455815948519645, + 0.8515395781929294 + ], + "target_position": [ + 0.3280850280822542, + -0.3262692545679767, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007929170647495334, + "xy_threshold": 0.08, + "gripper_dist": 0.1824169376755918, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395781929294, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07584445617458398, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08796023722158185, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14997267124607166, + "release_required_pad_clearance": 0.053980118610790925, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.971124771202261, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008059203624725342, + "max_z_decrease": 0.008059203624725342, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502068565741351, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008059203624725342, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02115501294965664, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008059203624725342, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008059207708778816, + "max_button_displacement": 0.12, + "button_start": [ + 0.18378494679927823, + -0.3825307190418243, + 0.7768088579177856 + ], + "button_final": [ + 0.18378494679927823, + -0.3825307190418243, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18392990266866047, + -0.3823398706316251, + 0.8037695027297486 + ], + "closest_button": [ + 0.18377733230590818, + -0.3825279176235198, + 0.7687496542930603 + ], + "closest_ee_minus_button": [ + 0.0001525703627522912, + 0.00018804699189467478, + 0.03501984843668826 + ], + "button_min_z_position": [ + 0.18377733230590818, + -0.3825279176235198, + 0.7687496542930603 + ], + "min_active_finger_to_button": 0.14563930502257502, + "closest_active_finger": [ + 0.057842276990413666, + -0.44693678617477417, + 0.8114563226699829 + ], + "closest_active_finger_button": [ + 0.18378756940364832, + -0.38253220915794367, + 0.7768060564994812 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12594529241323466, + -0.0644045770168305, + 0.03465026617050171 + ], + "min_contact_pad_to_button": 0.02115501294965664, + "closest_contact_pad": [ + 0.18377733230590818, + -0.3833595170991017, + 0.7898883159160759 + ], + "closest_contact_pad_button": [ + 0.18377733230590818, + -0.3825279176235198, + 0.7687496542930603 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0008315994755819234, + 0.021138661623015587 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 79, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f8758585e47c796771377bdc21189e246392a35ab1ded074fee8aad120f69c41", + "visual_seed": 579846178119826412, + "episode_index": 79, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_7_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_7_success.json new file mode 100644 index 0000000000000000000000000000000000000000..219ad687b131a7be30a10e66ae5fabf6b2db0049 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_7_success.json @@ -0,0 +1,700 @@ +{ + "episode": 7, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3789658314112645, + -0.09050009276135758, + 1.1634877189970378 + ], + "current_z": 1.1634877189970378, + "required_z": 0.8611065676194107, + "initial_z": 0.7611065676194108, + "lift_margin": 0.3023811513776271, + "gripper_z": 1.1531599150378147, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37487323838234055, + -0.09474650067508902, + 1.1531599150378147 + ], + "object_minus_gripper": [ + 0.004092593028923952, + 0.004246407913731445, + 0.01032780395922317 + ], + "object_to_gripper_xy": 0.005897567114514083, + "object_to_gripper_z": 0.01032780395922317, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3789658314112645, + -0.11420577002626163, + 1.1634877189970378 + ], + "finger_b": [ + 0.36929208673558406, + -0.09050009276135758, + 1.1634877189970378 + ], + "finger_midpoint": [ + 0.37412895907342425, + -0.1023529313938096, + 1.1634877189970378 + ], + "object_minus_finger_midpoint": [ + 0.004836872337840248, + 0.011852838632452026, + 0.0 + ], + "finger_gap": 0.025603524574519903, + "fingertip_max_gap": 0.09337314717190578, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012801762287259962, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1634877189970378, + "object_top_z": 1.2133360794937547, + "finger_top_clearance": 0.049848360496716815, + "fingertip_min_top_clearance": 0.014954508149015076, + "object_projection_between_fingers": 0.857245524507172, + "object_to_finger_line_xy": 0.008956683622104979, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049186573585952895, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.275304399276054, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 348, + "max_stable_success_frames": 348, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33472775178953773, + -0.3332584124567969, + 0.8515395720024417 + ], + "target_position": [ + 0.3289963195451004, + -0.3336384538894641, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005744018372456673, + "xy_threshold": 0.08, + "gripper_dist": 0.18149247044939443, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395720024417, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07533414356911537, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08884207109590202, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14998658754643235, + "release_required_pad_clearance": 0.05442103554795101, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.8688328239124585, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0079268217086792, + "max_z_decrease": 0.0079268217086792, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501840534758675, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0079268217086792, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021241988600868546, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 119, + "max_z_decrease_with_contact_point": 0.0079268217086792, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007926843136744688, + "max_button_displacement": 0.12, + "button_start": [ + 0.1846962422132492, + -0.3898999094963073, + 0.7768088579177856 + ], + "button_final": [ + 0.1846962422132492, + -0.3898999094963073, + 0.7768088579177856 + ], + "closest_ee": [ + 0.185763949578109, + -0.389856700068382, + 0.8058698416790636 + ], + "closest_button": [ + 0.18468208611011505, + -0.3899027109146118, + 0.770868182182312 + ], + "closest_ee_minus_button": [ + 0.0010818634679939376, + 4.601084622979368e-05, + 0.0350016594967516 + ], + "button_min_z_position": [ + 0.18467816710472107, + -0.38990351557731623, + 0.7688820362091064 + ], + "min_active_finger_to_button": 0.14509709271971752, + "closest_active_finger": [ + 0.044737353920936584, + -0.3743164837360382, + 0.8080733418464661 + ], + "closest_active_finger_button": [ + 0.1847066730260849, + -0.3899042904376983, + 0.7731623649597168 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13996931910514832, + 0.0155878067016601, + 0.03491097688674927 + ], + "min_contact_pad_to_button": 0.021241988600868546, + "closest_contact_pad": [ + 0.18467816710472107, + -0.391020868435855, + 0.7900946174360327 + ], + "closest_contact_pad_button": [ + 0.18467816710472107, + -0.38990351557731623, + 0.7688820362091064 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001117352858538756, + 0.021212581226926264 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 7, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1259b06bbd17e242c19fc11bf2d32095c0c36dfc81c9819dd9d9eba1eb4daa65", + "visual_seed": 5238506859692946951, + "episode_index": 7, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_80_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_80_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e32de947d22a9179a8d4e7362658b48f1d7c2db9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_80_success.json @@ -0,0 +1,700 @@ +{ + "episode": 80, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.38174074642245265, + -0.08649490968226636, + 1.1656721425951422 + ], + "current_z": 1.1656721425951422, + "required_z": 0.8611066272240557, + "initial_z": 0.7611066272240558, + "lift_margin": 0.30456551537108645, + "gripper_z": 1.1551629140399924, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3777444723999217, + -0.09067752794531747, + 1.1551629140399924 + ], + "object_minus_gripper": [ + 0.0039962740225309434, + 0.004182618263051108, + 0.010509228555149797 + ], + "object_to_gripper_xy": 0.00578485104367989, + "object_to_gripper_z": 0.010509228555149797, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.38174074642245265, + -0.10998197105797757, + 1.1656721425951422 + ], + "finger_b": [ + 0.37194309366093475, + -0.08649490968226636, + 1.1656721425951422 + ], + "finger_midpoint": [ + 0.3768419200416937, + -0.09823844037012197, + 1.1656721425951422 + ], + "object_minus_finger_midpoint": [ + 0.004898826380758947, + 0.011743530687855608, + 0.0 + ], + "finger_gap": 0.025448694498966036, + "fingertip_max_gap": 0.09240066835746527, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012724347249483025, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1656721425951422, + "object_top_z": 1.2155299675775937, + "finger_top_clearance": 0.049857824982451504, + "fingertip_min_top_clearance": 0.01495734749473545, + "object_projection_between_fingers": 0.8517778629169129, + "object_to_finger_line_xy": 0.009042431302596953, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04870033417873264, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.2296757740928665, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 360, + "max_stable_success_frames": 360, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33133839617352157, + -0.3310756235071478, + 0.8515395630828474 + ], + "target_position": [ + 0.3245207179063169, + -0.33209379122421395, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006893286767224337, + "xy_threshold": 0.08, + "gripper_dist": 0.18161436481038015, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395630828474, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07562952981030134, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08830797050560023, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14953065000102422, + "release_required_pad_clearance": 0.054153985252800116, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.3230786745109815, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008166015148162842, + "max_z_decrease": 0.008166015148162842, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03506791190671558, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008166015148162842, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02135554945729274, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008166015148162842, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008166050034382519, + "max_button_displacement": 0.12, + "button_start": [ + 0.18022064864635462, + -0.3883552551269531, + 0.7768088579177856 + ], + "button_final": [ + 0.18022064864635462, + -0.3883552551269531, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1815507924735565, + -0.3900591119312898, + 0.8036428621821893 + ], + "closest_button": [ + 0.18019777536392206, + -0.3883484303951263, + 0.7686428427696228 + ], + "closest_ee_minus_button": [ + 0.0013530171096344246, + -0.0017106815361634942, + 0.035000019412566474 + ], + "button_min_z_position": [ + 0.18019777536392206, + -0.3883484303951263, + 0.7686428427696228 + ], + "min_active_finger_to_button": 0.14442403226006936, + "closest_active_finger": [ + 0.040804505348205566, + -0.37396639585494995, + 0.8076062202453613 + ], + "closest_active_finger_button": [ + 0.18023091554641718, + -0.3883620500564575, + 0.7728018760681152 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13942641019821161, + 0.014395654201507568, + 0.034804344177246094 + ], + "min_contact_pad_to_button": 0.02135554945729274, + "closest_contact_pad": [ + 0.18019777536392206, + -0.39124293432425933, + 0.7898013242753242 + ], + "closest_contact_pad_button": [ + 0.18019777536392206, + -0.3883484303951263, + 0.7686428427696228 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002894503929133041, + 0.021158481505701432 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 80, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0fdfd9575fece8c77d3a6f2e988222eadb03f5046071d104bc232f13107221f5", + "visual_seed": 5549683319856773812, + "episode_index": 80, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_81_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_81_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c574b5854a88e1f20d9da1b58cd082fbf110fb62 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_81_success.json @@ -0,0 +1,700 @@ +{ + "episode": 81, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3812173508194959, + -0.08530576079179447, + 1.167600306951806 + ], + "current_z": 1.167600306951806, + "required_z": 0.8611066272240557, + "initial_z": 0.7611066272240558, + "lift_margin": 0.3064936797277502, + "gripper_z": 1.1572445521102444, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3768542362341094, + -0.0898750597080862, + 1.1572445521102444 + ], + "object_minus_gripper": [ + 0.004363114585386518, + 0.0045692989162917225, + 0.010355754841561593 + ], + "object_to_gripper_xy": 0.006317852599708012, + "object_to_gripper_z": 0.010355754841561593, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3812173508194959, + -0.10895430551494995, + 1.167600306951806 + ], + "finger_b": [ + 0.37071998919894183, + -0.08530576079179447, + 1.167600306951806 + ], + "finger_midpoint": [ + 0.37596867000921885, + -0.09713003315337221, + 1.167600306951806 + ], + "object_minus_finger_midpoint": [ + 0.005248680810277073, + 0.011824272361577737, + 0.0 + ], + "finger_gap": 0.025873698392687633, + "fingertip_max_gap": 0.09136205035848952, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012936849196343829, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.167600306951806, + "object_top_z": 1.2173857200492586, + "finger_top_clearance": 0.04978541309745266, + "fingertip_min_top_clearance": 0.014935623929235763, + "object_projection_between_fingers": 0.8353948972980475, + "object_to_finger_line_xy": 0.00959458218887521, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04818102517924476, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3807118876983566, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 361, + "max_stable_success_frames": 361, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33123214233349824, + -0.3270439273193018, + 0.8515396082180221 + ], + "target_position": [ + 0.3236487246535559, + -0.3284733830347259, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007716966201223182, + "xy_threshold": 0.08, + "gripper_dist": 0.18378037654499038, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396082180221, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07539126567066566, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08673159488860242, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1523577706946423, + "release_required_pad_clearance": 0.05336579744430121, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.7475939016230364, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007948040962219238, + "max_z_decrease": 0.007948040962219238, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03508251724562835, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007948040962219238, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021157432474923448, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007948040962219238, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00794806229920383, + "max_button_displacement": 0.12, + "button_start": [ + 0.17934864759445188, + -0.3847348392009735, + 0.7768088579177856 + ], + "button_final": [ + 0.17934864759445188, + -0.3847348392009735, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17973620215672484, + -0.3846861282793053, + 0.807603197452465 + ], + "closest_button": [ + 0.17933753132820127, + -0.3847393989562988, + 0.7725229859352112 + ], + "closest_ee_minus_button": [ + 0.00039867082852357294, + 5.3270676993455446e-05, + 0.03508021151725382 + ], + "button_min_z_position": [ + 0.17933058738708496, + -0.3847384452819824, + 0.7688608169555664 + ], + "min_active_finger_to_button": 0.14583493051078486, + "closest_active_finger": [ + 0.05323553830385208, + -0.4493485987186432, + 0.8107908368110657 + ], + "closest_active_finger_button": [ + 0.17935213446617124, + -0.3847373425960541, + 0.7763261198997498 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12611659616231916, + -0.06461125612258911, + 0.03446471691131592 + ], + "min_contact_pad_to_button": 0.021157432474923448, + "closest_contact_pad": [ + 0.17933058738708496, + -0.38575104758939605, + 0.789994003783349 + ], + "closest_contact_pad_button": [ + 0.17933058738708496, + -0.3847384452819824, + 0.7688608169555664 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0010126023074136237, + 0.021133186827782646 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 81, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a569b9014b6d1642fdd20fba5fb57c2e00c3dc9c7490f293beec966e461d8824", + "visual_seed": 1609963837237229721, + "episode_index": 81, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_82_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_82_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2f881efc69c3ba99969e3333b3fde077b70f689b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_82_success.json @@ -0,0 +1,700 @@ +{ + "episode": 82, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3835137326287918, + -0.08800853319188269, + 1.1669685950278668 + ], + "current_z": 1.1669685950278668, + "required_z": 0.8611066272240554, + "initial_z": 0.7611066272240554, + "lift_margin": 0.30586196780381136, + "gripper_z": 1.1564925225390215, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37944431372108833, + -0.09239611916287897, + 1.1564925225390215 + ], + "object_minus_gripper": [ + 0.004069418907703459, + 0.004387585970996283, + 0.0104760724888453 + ], + "object_to_gripper_xy": 0.005984236033050318, + "object_to_gripper_z": 0.0104760724888453, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3835137326287918, + -0.11136104992015206, + 1.1669685950278668 + ], + "finger_b": [ + 0.3731583722674861, + -0.08800853319188269, + 1.1669685950278668 + ], + "finger_midpoint": [ + 0.37833605244813895, + -0.09968479155601737, + 1.1669685950278668 + ], + "object_minus_finger_midpoint": [ + 0.005177680180652844, + 0.011676258364134676, + 0.0 + ], + "finger_gap": 0.025545518702046386, + "fingertip_max_gap": 0.09211992572519337, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012772759351023186, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1669685950278668, + "object_top_z": 1.216786969485268, + "finger_top_clearance": 0.04981837445740123, + "fingertip_min_top_clearance": 0.0149455123372204, + "object_projection_between_fingers": 0.8356760058750877, + "object_to_finger_line_xy": 0.009466385430853536, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04855996286259669, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.043098561429881, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 367, + "max_stable_success_frames": 367, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3353349329914532, + -0.3290638570024066, + 0.8515395095330154 + ], + "target_position": [ + 0.3270365480745813, + -0.33098516135427936, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00851789895696658, + "xy_threshold": 0.08, + "gripper_dist": 0.1834272128974691, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395095330154, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07534639833144932, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08492371967336886, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15219525857129515, + "release_required_pad_clearance": 0.05246185983668443, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.0, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008086562156677246, + "max_z_decrease": 0.008086562156677246, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035043569575136976, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008086562156677246, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021211543572556765, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008086562156677246, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008086567782324942, + "max_button_displacement": 0.12, + "button_start": [ + 0.1827364712953567, + -0.3872466087341308, + 0.7768088579177856 + ], + "button_final": [ + 0.1827364712953567, + -0.3872466087341308, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1812793212000539, + -0.3885780691553629, + 0.8037099950370264 + ], + "closest_button": [ + 0.1827337741851806, + -0.3872374594211578, + 0.7687222957611084 + ], + "closest_ee_minus_button": [ + -0.0014544529851266974, + -0.0013406097342051337, + 0.03498769927591805 + ], + "button_min_z_position": [ + 0.1827337741851806, + -0.3872374594211578, + 0.7687222957611084 + ], + "min_active_finger_to_button": 0.14712641073643007, + "closest_active_finger": [ + 0.04038722813129425, + -0.37375491857528687, + 0.8079847097396851 + ], + "closest_active_finger_button": [ + 0.1827435046434402, + -0.3872536718845367, + 0.7733631134033203 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14235627651214594, + 0.013498753309249822, + 0.034621596336364746 + ], + "min_contact_pad_to_button": 0.021211543572556765, + "closest_contact_pad": [ + 0.1827337741851806, + -0.38964568692333457, + 0.7897966883034389 + ], + "closest_contact_pad_button": [ + 0.1827337741851806, + -0.3872374594211578, + 0.7687222957611084 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002408227502176785, + 0.021074392542330456 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 82, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ed3df9930a77a9a39be438c21b85c3c9a94e381211aa843387c89f791ef47d20", + "visual_seed": 4953717318970148161, + "episode_index": 82, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_83_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_83_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e7501aa40d480e2a50238a9f123b29ca8706e6c6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_83_success.json @@ -0,0 +1,700 @@ +{ + "episode": 83, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3841696638715194, + -0.08522123676998046, + 1.1660997261211112 + ], + "current_z": 1.1660997261211112, + "required_z": 0.8611066868287003, + "initial_z": 0.7611066868287003, + "lift_margin": 0.30499303929241095, + "gripper_z": 1.155657578611166, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3801521085577001, + -0.08955985968561288, + 1.155657578611166 + ], + "object_minus_gripper": [ + 0.00401755531381931, + 0.004338622915632417, + 0.01044214750994521 + ], + "object_to_gripper_xy": 0.005913070226510803, + "object_to_gripper_z": 0.01044214750994521, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3841696638715194, + -0.10860444809806949, + 1.1660997261211112 + ], + "finger_b": [ + 0.37397202829464143, + -0.08522123676998046, + 1.1660997261211112 + ], + "finger_midpoint": [ + 0.3790708460830804, + -0.09691284243402498, + 1.1660997261211112 + ], + "object_minus_finger_midpoint": [ + 0.005098817788439014, + 0.011691605664044522, + 0.0 + ], + "finger_gap": 0.02551012237079388, + "fingertip_max_gap": 0.09229630177943929, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012755061185396958, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1660997261211112, + "object_top_z": 1.21597317341267, + "finger_top_clearance": 0.04987344729155874, + "fingertip_min_top_clearance": 0.01496203418746762, + "object_projection_between_fingers": 0.8402010607681015, + "object_to_finger_line_xy": 0.009347405875793765, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048648150889719646, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.1985626102719076, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 367, + "max_stable_success_frames": 367, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33056751968894293, + -0.3250240195404758, + 0.8515396117945265 + ], + "target_position": [ + 0.32276159373356655, + -0.3266954229706318, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007982860981324679, + "xy_threshold": 0.08, + "gripper_dist": 0.18534733983161997, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396117945265, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0757670255811833, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08756742729016818, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15292263425751088, + "release_required_pad_clearance": 0.053783713645084094, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.576623497671894, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008059918880462646, + "max_z_decrease": 0.008059918880462646, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03507545487629402, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008059918880462646, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021102687205618736, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008059918880462646, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008059921196595432, + "max_button_displacement": 0.12, + "button_start": [ + 0.17846152186393732, + -0.3829568922519684, + 0.7768088579177856 + ], + "button_final": [ + 0.17846152186393732, + -0.3829568922519684, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1782621628799195, + -0.3824523688856847, + 0.8038202732385541 + ], + "closest_button": [ + 0.17845629155635828, + -0.3829537332057953, + 0.768748939037323 + ], + "closest_ee_minus_button": [ + -0.00019412867643878173, + 0.0005013643201106088, + 0.0350713342012311 + ], + "button_min_z_position": [ + 0.17845629155635828, + -0.3829537332057953, + 0.768748939037323 + ], + "min_active_finger_to_button": 0.14573630376478097, + "closest_active_finger": [ + 0.052260614931583405, + -0.44719696044921875, + 0.8110067248344421 + ], + "closest_active_finger_button": [ + 0.17846508324146265, + -0.3829590380191803, + 0.7765830159187317 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12620446830987925, + -0.06423792243003845, + 0.03442370891571045 + ], + "min_contact_pad_to_button": 0.021102687205618736, + "closest_contact_pad": [ + 0.17845629155635828, + -0.38345514528612634, + 0.7898456684810989 + ], + "closest_contact_pad_button": [ + 0.17845629155635828, + -0.3829537332057953, + 0.768748939037323 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.000501412080331054, + 0.02109672944377594 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 83, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0ad5d85265d8c5e8e2b12017247e496b1d49214b3cfb3882c1e854af3360c51c", + "visual_seed": 5088710682177271749, + "episode_index": 83, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_84_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_84_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a4a1ebb4c8aea03bc91904688ad44ba905f5477b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_84_success.json @@ -0,0 +1,700 @@ +{ + "episode": 84, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3778617951613885, + -0.08722778511331258, + 1.1655381884387488 + ], + "current_z": 1.1655381884387488, + "required_z": 0.861106567619411, + "initial_z": 0.761106567619411, + "lift_margin": 0.30443162081933783, + "gripper_z": 1.155201298066571, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37359696364451767, + -0.09162859257270535, + 1.155201298066571 + ], + "object_minus_gripper": [ + 0.004264831516870848, + 0.0044008074593927665, + 0.010336890372177887 + ], + "object_to_gripper_xy": 0.006128286396860212, + "object_to_gripper_z": 0.010336890372177887, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3778617951613885, + -0.11080239211489902, + 1.1655381884387488 + ], + "finger_b": [ + 0.36760693119861704, + -0.08722778511331258, + 1.1655381884387488 + ], + "finger_midpoint": [ + 0.37273436318000275, + -0.0990150886141058, + 1.1655381884387488 + ], + "object_minus_finger_midpoint": [ + 0.005127431981385766, + 0.011787303500793211, + 0.0 + ], + "finger_gap": 0.0257084486146908, + "fingertip_max_gap": 0.09189904062955159, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012854224307345405, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1655381884387488, + "object_top_z": 1.2152994026991217, + "finger_top_clearance": 0.049761214260372943, + "fingertip_min_top_clearance": 0.014928364278111882, + "object_projection_between_fingers": 0.840886119493843, + "object_to_finger_line_xy": 0.009403694147414276, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0484495203147758, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8965968473871864, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 362, + "max_stable_success_frames": 362, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3312342012013362, + -0.33271670383396673, + 0.8515395263443278 + ], + "target_position": [ + 0.3226719105429377, + -0.33484637529993966, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008823169604619253, + "xy_threshold": 0.08, + "gripper_dist": 0.1869164633442828, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395263443278, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0755357892753267, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08554863601832745, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15504969983245184, + "release_required_pad_clearance": 0.052774318009163726, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5974142698526943, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007990062236785889, + "max_z_decrease": 0.007990062236785889, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035085558779264836, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007990062236785889, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.0211311902648285, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007990062236785889, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007990092160772866, + "max_button_displacement": 0.12, + "button_start": [ + 0.17837183177471155, + -0.391107827425003, + 0.7768088579177856 + ], + "button_final": [ + 0.17837183177471155, + -0.391107827425003, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17769088181815307, + -0.3902126286177996, + 0.8075126496253534 + ], + "closest_button": [ + 0.1783606559038162, + -0.3911122977733612, + 0.772445023059845 + ], + "closest_ee_minus_button": [ + -0.0006697740856631273, + 0.000899669155561611, + 0.035067626565508436 + ], + "button_min_z_position": [ + 0.1783502250909805, + -0.39111119508743286, + 0.7688187956809998 + ], + "min_active_finger_to_button": 0.14640870946640383, + "closest_active_finger": [ + 0.05059076100587845, + -0.4536842107772827, + 0.8108460903167725 + ], + "closest_active_finger_button": [ + 0.17837549746036524, + -0.3911096751689911, + 0.7763352394104004 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1277847364544868, + -0.06257453560829163, + 0.03451085090637207 + ], + "min_contact_pad_to_button": 0.0211311902648285, + "closest_contact_pad": [ + 0.1783502250909805, + -0.3914209651554217, + 0.7899477153058495 + ], + "closest_contact_pad_button": [ + 0.1783502250909805, + -0.39111119508743286, + 0.7688187956809998 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0003097700679888238, + 0.02112891962484975 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 84, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b4565847996901f8e4360436b7fea00365d54a1fe95e45f9dbc79a421d60d94a", + "visual_seed": 3854219033046867683, + "episode_index": 84, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_85_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_85_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6d05740638bc7b157e9170b9a5858c02d2ead8b3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_85_success.json @@ -0,0 +1,700 @@ +{ + "episode": 85, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3799672605559527, + -0.08356353596753484, + 1.1655125862155427 + ], + "current_z": 1.1655125862155427, + "required_z": 0.8611066272240556, + "initial_z": 0.7611066272240556, + "lift_margin": 0.30440595899148704, + "gripper_z": 1.1550669840740504, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.375764143385047, + -0.08786313806166311, + 1.1550669840740504 + ], + "object_minus_gripper": [ + 0.0042031171709057125, + 0.004299602094128274, + 0.01044560214149226 + ], + "object_to_gripper_xy": 0.006012717532047775, + "object_to_gripper_z": 0.01044560214149226, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3799672605559527, + -0.10716817847788788, + 1.1655125862155427 + ], + "finger_b": [ + 0.3699643538932841, + -0.08356353596753484, + 1.1655125862155427 + ], + "finger_midpoint": [ + 0.37496580722461836, + -0.09536585722271136, + 1.1655125862155427 + ], + "object_minus_finger_midpoint": [ + 0.005001453331334338, + 0.011802321255176523, + 0.0 + ], + "finger_gap": 0.025636639595384307, + "fingertip_max_gap": 0.09208504972448892, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012818319797692166, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1655125862155427, + "object_top_z": 1.215362119419971, + "finger_top_clearance": 0.04984953320442842, + "fingertip_min_top_clearance": 0.014954859961328525, + "object_projection_between_fingers": 0.8477594876865695, + "object_to_finger_line_xy": 0.009210061831942767, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04854252486224446, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8348566989154214, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 359, + "max_stable_success_frames": 359, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33976369303229215, + -0.32696987192079013, + 0.8515395162682098 + ], + "target_position": [ + 0.3326233433632693, + -0.3283111759013481, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00726523845198319, + "xy_threshold": 0.08, + "gripper_dist": 0.18495325895662879, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395162682098, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07542511101037114, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08654718305338492, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15339976259515137, + "release_required_pad_clearance": 0.05327359152669246, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5666936730611019, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008099555969238281, + "max_z_decrease": 0.008099555969238281, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03507284123958221, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008099555969238281, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.0212426009692859, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008099555969238281, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008099573379841667, + "max_button_displacement": 0.12, + "button_start": [ + 0.18832327425479883, + -0.38457262516021723, + 0.7768088579177856 + ], + "button_final": [ + 0.18832327425479883, + -0.38457262516021723, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18618645208762533, + -0.3839490517206723, + 0.8078326735389081 + ], + "closest_button": [ + 0.18833555281162256, + -0.3845808804035187, + 0.7728314399719238 + ], + "closest_ee_minus_button": [ + -0.002149100723997238, + 0.0006318286828463915, + 0.03500123356698426 + ], + "button_min_z_position": [ + 0.1883064955472946, + -0.38457190990448, + 0.7687093019485474 + ], + "min_active_finger_to_button": 0.14801784085225128, + "closest_active_finger": [ + 0.058502085506916046, + -0.44638901948928833, + 0.8079356551170349 + ], + "closest_active_finger_button": [ + 0.18833555281162256, + -0.3845808804035187, + 0.7728314399719238 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12983346730470652, + -0.06180813908576965, + 0.035104215145111084 + ], + "min_contact_pad_to_button": 0.0212426009692859, + "closest_contact_pad": [ + 0.1883064955472946, + -0.3853186262535459, + 0.789938774637108 + ], + "closest_contact_pad_button": [ + 0.1883064955472946, + -0.38457190990448, + 0.7687093019485474 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0007467163490659234, + 0.02122947268856068 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 85, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "47b7d2e0725ded619dda5391b345f1dd3379b2bc4ba20100c7780428ec05e11f", + "visual_seed": 8920274914745349200, + "episode_index": 85, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_86_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_86_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7c9312fa5cfdb51f32f5b53806987f580298c1a5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_86_success.json @@ -0,0 +1,700 @@ +{ + "episode": 86, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.379242646180016, + -0.08771406364100992, + 1.1682217887979989 + ], + "current_z": 1.1682217887979989, + "required_z": 0.8611066868287004, + "initial_z": 0.7611066868287004, + "lift_margin": 0.3071151019692985, + "gripper_z": 1.1578242140042132, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3752253101145287, + -0.09208580247233335, + 1.1578242140042132 + ], + "object_minus_gripper": [ + 0.00401733606548732, + 0.004371738831323427, + 0.010397574793785669 + ], + "object_to_gripper_xy": 0.0059372627929346585, + "object_to_gripper_z": 0.010397574793785669, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.379242646180016, + -0.11089228271489965, + 1.1682217887979989 + ], + "finger_b": [ + 0.36873718858726734, + -0.08771406364100992, + 1.1682217887979989 + ], + "finger_midpoint": [ + 0.3739899173836417, + -0.09930317317795478, + 1.1682217887979989 + ], + "object_minus_finger_midpoint": [ + 0.00525272879637434, + 0.011589109536944864, + 0.0 + ], + "finger_gap": 0.025447877684991068, + "fingertip_max_gap": 0.09220803287767013, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012723938842495534, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1682217887979989, + "object_top_z": 1.2180265476545928, + "finger_top_clearance": 0.04980475885659397, + "fingertip_min_top_clearance": 0.014941427656978189, + "object_projection_between_fingers": 0.8295775475732015, + "object_to_finger_line_xy": 0.009568491352023428, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048604016438835065, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.0459879901590226, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 366, + "max_stable_success_frames": 366, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3368452966170512, + -0.329442574154421, + 0.8515395676112868 + ], + "target_position": [ + 0.32808733677724566, + -0.3316034233871213, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009020594767647421, + "xy_threshold": 0.08, + "gripper_dist": 0.18339350162333307, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395676112868, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07513115732830634, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08547153508319587, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15274775526593762, + "release_required_pad_clearance": 0.052735767541597936, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5233919993488112, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007799863815307617, + "max_z_decrease": 0.007799863815307617, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03511501351967711, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007799863815307617, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02119117850940666, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 119, + "max_z_decrease_with_contact_point": 0.007799863815307617, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007799888138474622, + "max_button_displacement": 0.12, + "button_start": [ + 0.18378725647926336, + -0.387864887714386, + 0.7768088579177856 + ], + "button_final": [ + 0.18378725647926336, + -0.387864887714386, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18516708179793592, + -0.3862224559252954, + 0.8040574991434005 + ], + "closest_button": [ + 0.18376810848712927, + -0.3878684639930725, + 0.769008994102478 + ], + "closest_ee_minus_button": [ + 0.001398973310806656, + 0.0016460080677770939, + 0.035048505040922495 + ], + "button_min_z_position": [ + 0.18376810848712927, + -0.3878684639930725, + 0.769008994102478 + ], + "min_active_finger_to_button": 0.14396182722791923, + "closest_active_finger": [ + 0.05896306037902832, + -0.45061907172203064, + 0.8079321384429932 + ], + "closest_active_finger_button": [ + 0.1837984919548035, + -0.3878721594810486, + 0.7732341885566711 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12483543157577517, + -0.06274691224098206, + 0.03469794988632202 + ], + "min_contact_pad_to_button": 0.02119117850940666, + "closest_contact_pad": [ + 0.18376810848712927, + -0.3878684639930725, + 0.7902001726118847 + ], + "closest_contact_pad_button": [ + 0.18376810848712927, + -0.3878684639930725, + 0.769008994102478 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02119117850940666 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 86, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "570a3367d01479203b92f09d9e349df13daa3d5f23d7032dcb77bf6cbfe0336e", + "visual_seed": 2949637901268944013, + "episode_index": 86, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_87_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_87_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8cbfa85f48e96de2611901674d509aafc1a1379b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_87_success.json @@ -0,0 +1,700 @@ +{ + "episode": 87, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.37891478727883227, + -0.0860184305568098, + 1.165647613744317 + ], + "current_z": 1.165647613744317, + "required_z": 0.8611066868287003, + "initial_z": 0.7611066868287003, + "lift_margin": 0.30454092691561674, + "gripper_z": 1.1551899673492396, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37485412538854623, + -0.09017316099255118, + 1.1551899673492396 + ], + "object_minus_gripper": [ + 0.0040606618902860325, + 0.004154730435741383, + 0.010457646395077402 + ], + "object_to_gripper_xy": 0.0058095404276842, + "object_to_gripper_z": 0.010457646395077402, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.37891478727883227, + -0.10964188807768681, + 1.165647613744317 + ], + "finger_b": [ + 0.36929143477811116, + -0.0860184305568098, + 1.165647613744317 + ], + "finger_midpoint": [ + 0.3741031110284717, + -0.09783015931724831, + 1.165647613744317 + ], + "object_minus_finger_midpoint": [ + 0.004811676250360553, + 0.011811728760438511, + 0.0 + ], + "finger_gap": 0.025508364482926295, + "fingertip_max_gap": 0.09254387579616105, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012754182241463154, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.165647613744317, + "object_top_z": 1.215456443538642, + "finger_top_clearance": 0.04980882979432488, + "fingertip_min_top_clearance": 0.014942648938297463, + "object_projection_between_fingers": 0.8576729130667246, + "object_to_finger_line_xy": 0.008912247555556727, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04877193789808053, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.424321707947371, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 355, + "max_stable_success_frames": 355, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33266137916681454, + -0.3290615256174715, + 0.8515395660059168 + ], + "target_position": [ + 0.32513072575423707, + -0.3304947310750095, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007665821463084137, + "xy_threshold": 0.08, + "gripper_dist": 0.1844581278822652, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395660059168, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07581821401841164, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08983556063255647, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15185340070953285, + "release_required_pad_clearance": 0.05491778031627824, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 4.901446104333345, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007860660552978516, + "max_z_decrease": 0.007860660552978516, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501782207484617, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007860660552978516, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021254739381205933, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007860660552978516, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007860679322749923, + "max_button_displacement": 0.12, + "button_start": [ + 0.18083065748214722, + -0.38675618171691895, + 0.7768088579177856 + ], + "button_final": [ + 0.18083065748214722, + -0.38675618171691895, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17952766129313996, + -0.3867786144795691, + 0.807352751780319 + ], + "closest_button": [ + 0.1808195859193802, + -0.38675880432128906, + 0.772358775138855 + ], + "closest_ee_minus_button": [ + -0.0012919246262402262, + -1.9810158280064716e-05, + 0.034993976641463975 + ], + "button_min_z_position": [ + 0.18081362545490265, + -0.386758416891098, + 0.7689481973648071 + ], + "min_active_finger_to_button": 0.1474276727915654, + "closest_active_finger": [ + 0.05161343514919281, + -0.4485805630683899, + 0.807851254940033 + ], + "closest_active_finger_button": [ + 0.18084150552749634, + -0.3867604434490204, + 0.7730188369750977 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12922807037830353, + -0.06182011961936951, + 0.0348324179649353 + ], + "min_contact_pad_to_button": 0.021254739381205933, + "closest_contact_pad": [ + 0.18081362545490265, + -0.38818310453975646, + 0.7901551351745605 + ], + "closest_contact_pad_button": [ + 0.18081362545490265, + -0.386758416891098, + 0.7689481973648071 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0014246876486584403, + 0.021206937809753357 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 87, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "157793c11f90fa8eb16697747ddaed1d38df3f6078f275aca0771038b4126b1a", + "visual_seed": 3057410600758282921, + "episode_index": 87, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_88_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_88_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6547e15f5df801891d935c7353abd5adad3fa19b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_88_success.json @@ -0,0 +1,700 @@ +{ + "episode": 88, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.38178224885846906, + -0.09366769467582002, + 1.166898302967501 + ], + "current_z": 1.166898302967501, + "required_z": 0.8611067464333448, + "initial_z": 0.7611067464333449, + "lift_margin": 0.30579155653415624, + "gripper_z": 1.1564583792657535, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37748509175144135, + -0.09804675144511871, + 1.1564583792657535 + ], + "object_minus_gripper": [ + 0.004297157107027716, + 0.0043790567692986865, + 0.010439923701747622 + ], + "object_to_gripper_xy": 0.006135282991942544, + "object_to_gripper_z": 0.010439923701747622, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.38178224885846906, + -0.11732517604828233, + 1.166898302967501 + ], + "finger_b": [ + 0.37163846693556546, + -0.09366769467582002, + 1.166898302967501 + ], + "finger_midpoint": [ + 0.37671035789701723, + -0.10549643536205117, + 1.166898302967501 + ], + "object_minus_finger_midpoint": [ + 0.00507189096145183, + 0.011828740686231146, + 0.0 + ], + "finger_gap": 0.025740488274075667, + "fingertip_max_gap": 0.09191308926392724, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012870244137037837, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.166898302967501, + "object_top_z": 1.216743622292148, + "finger_top_clearance": 0.049845319324646864, + "fingertip_min_top_clearance": 0.014953595797394059, + "object_projection_between_fingers": 0.8447018628787384, + "object_to_finger_line_xy": 0.009322912966227712, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048456544631963624, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7789342373753678, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 363, + "max_stable_success_frames": 363, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33403805262893405, + -0.3324872194161901, + 0.8515396061151161 + ], + "target_position": [ + 0.32603417817572783, + -0.33422988800018893, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008191391826566696, + "xy_threshold": 0.08, + "gripper_dist": 0.18695526369738824, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396061151161, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07538096122937359, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08655240481778485, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15545868976355026, + "release_required_pad_clearance": 0.05327620240889243, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.571681642379663, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008181452751159668, + "max_z_decrease": 0.008181452751159668, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504480422036398, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008181452751159668, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021475988676416126, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008181452751159668, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008181543415291948, + "max_button_displacement": 0.12, + "button_start": [ + 0.181734099984169, + -0.3904913365840911, + 0.7768088579177856 + ], + "button_final": [ + 0.181734099984169, + -0.3904913365840911, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1822509690812219, + -0.39232705802372686, + 0.80375409007557 + ], + "closest_button": [ + 0.18170997500419614, + -0.3904902935028075, + 0.7687616348266602 + ], + "closest_ee_minus_button": [ + 0.0005409940770257637, + -0.001836764520919354, + 0.034992455248909815 + ], + "button_min_z_position": [ + 0.18169634044170377, + -0.3904837369918822, + 0.768627405166626 + ], + "min_active_finger_to_button": 0.14527350763956506, + "closest_active_finger": [ + 0.0417298749089241, + -0.3742348551750183, + 0.8079707026481628 + ], + "closest_active_finger_button": [ + 0.18174615502357477, + -0.3904983103275298, + 0.7728233933448792 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14001628011465067, + 0.016263455152511486, + 0.03514730930328369 + ], + "min_contact_pad_to_button": 0.021475988676416126, + "closest_contact_pad": [ + 0.18169634044170377, + -0.39367782589274725, + 0.7898645397596666 + ], + "closest_contact_pad_button": [ + 0.18169634044170377, + -0.3904837369918822, + 0.768627405166626 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.003194088900865033, + 0.021237134593040663 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 88, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9db2fffbb734615abd31f68044997cccf50e83df9e6faa8d02fbfd1e4b0349c6", + "visual_seed": 399829507078539824, + "episode_index": 88, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_89_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_89_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2ecaaef8d0a5871387807becc84a972fd68079c3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_89_success.json @@ -0,0 +1,700 @@ +{ + "episode": 89, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3854790832932243, + -0.08246822286098072, + 1.1640113689202916 + ], + "current_z": 1.1640113689202916, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.3029048609055257, + "gripper_z": 1.1534180571119332, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.38155325887088903, + -0.0866012997135706, + 1.1534180571119332 + ], + "object_minus_gripper": [ + 0.0039258244223352445, + 0.004133076852589873, + 0.010593311808358319 + ], + "object_to_gripper_xy": 0.005700387852104282, + "object_to_gripper_z": 0.010593311808358319, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3854790832932243, + -0.10599267418141836, + 1.1640113689202916 + ], + "finger_b": [ + 0.3758770696770699, + -0.08246822286098072, + 1.1640113689202916 + ], + "finger_midpoint": [ + 0.38067807648514707, + -0.09423044852119955, + 1.1640113689202916 + ], + "object_minus_finger_midpoint": [ + 0.004801006808077213, + 0.011762225660218825, + 0.0 + ], + "finger_gap": 0.02540862993969675, + "fingertip_max_gap": 0.09233276879333926, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01270431496984839, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1640113689202916, + "object_top_z": 1.2137675384269082, + "finger_top_clearance": 0.049756169506616654, + "fingertip_min_top_clearance": 0.014926850851984995, + "object_projection_between_fingers": 0.857188842606992, + "object_to_finger_line_xy": 0.008889975666830405, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048666384396669635, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.264717648356518, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 355, + "max_stable_success_frames": 355, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3314549494547163, + -0.3266027090688362, + 0.851539593827541 + ], + "target_position": [ + 0.32488276062922183, + -0.32741099074253655, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006621705612755251, + "xy_threshold": 0.08, + "gripper_dist": 0.18212640488006718, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539593827541, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07552564362392003, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08805715193992884, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1502830919142771, + "release_required_pad_clearance": 0.054028575969964424, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.06884228693652, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00787574052810669, + "max_z_decrease": 0.00787574052810669, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03517951568816295, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00787574052810669, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021159550362239488, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00787574052810669, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007875763763623702, + "max_button_displacement": 0.12, + "button_start": [ + 0.18058268725872034, + -0.38367244601249695, + 0.7768088579177856 + ], + "button_final": [ + 0.18058268725872034, + -0.38367244601249695, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1820551063130401, + -0.381630609063064, + 0.8040950856633229 + ], + "closest_button": [ + 0.18056324124336237, + -0.3836761116981506, + 0.7690067887306213 + ], + "closest_ee_minus_button": [ + 0.001491865069677717, + 0.0020455026350865713, + 0.035088296932701546 + ], + "button_min_z_position": [ + 0.18056397140026087, + -0.3836764097213744, + 0.768933117389679 + ], + "min_active_finger_to_button": 0.14365519250620176, + "closest_active_finger": [ + 0.05613870918750763, + -0.44657832384109497, + 0.8109453320503235 + ], + "closest_active_finger_button": [ + 0.18058630824089045, + -0.3836748003959655, + 0.7764090299606323 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12444759905338282, + -0.06290352344512945, + 0.03453630208969116 + ], + "min_contact_pad_to_button": 0.021159550362239488, + "closest_contact_pad": [ + 0.18056397140026087, + -0.3836764097213744, + 0.7900926677519184 + ], + "closest_contact_pad_button": [ + 0.18056397140026087, + -0.3836764097213744, + 0.768933117389679 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021159550362239488 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 89, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "77a3318326491ab7e154db67930aa1cdae3bb75ebca008d66fe6b74bf6d7df1f", + "visual_seed": 7789199079639418054, + "episode_index": 89, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_8_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_8_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5200718ba418dcb45207a1953ac02644a77abed3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_8_success.json @@ -0,0 +1,700 @@ +{ + "episode": 8, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.381574964205748, + -0.0910795617344643, + 1.1637223767007152 + ], + "current_z": 1.1637223767007152, + "required_z": 0.8611066868287002, + "initial_z": 0.7611066868287002, + "lift_margin": 0.30261568987201504, + "gripper_z": 1.1533314085726118, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3773465130735153, + -0.09540272775660842, + 1.1533314085726118 + ], + "object_minus_gripper": [ + 0.004228451132232691, + 0.004323166022144123, + 0.010390968128103362 + ], + "object_to_gripper_xy": 0.006047277357017897, + "object_to_gripper_z": 0.010390968128103362, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.381574964205748, + -0.11476426907087237, + 1.1637223767007152 + ], + "finger_b": [ + 0.37162143627351985, + -0.0910795617344643, + 1.1637223767007152 + ], + "finger_midpoint": [ + 0.3765982002396339, + -0.10292191540266833, + 1.1637223767007152 + ], + "object_minus_finger_midpoint": [ + 0.004976763966114073, + 0.011842353668204034, + 0.0 + ], + "finger_gap": 0.025691206275863108, + "fingertip_max_gap": 0.09215537233043289, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012845603137931554, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1637223767007152, + "object_top_z": 1.2134768582647235, + "finger_top_clearance": 0.0497544815640083, + "fingertip_min_top_clearance": 0.01492634446920249, + "object_projection_between_fingers": 0.84989848114322, + "object_to_finger_line_xy": 0.009176151306724355, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04857768616521645, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.1032714964514576, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 355, + "max_stable_success_frames": 355, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.330116977250294, + -0.32866154581985496, + 0.8515395947834745 + ], + "target_position": [ + 0.32353749418902733, + -0.3293810444911272, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006618706496850979, + "xy_threshold": 0.08, + "gripper_dist": 0.18120338988749857, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395947834745, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0751815757773273, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08594051767047366, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15016609591616012, + "release_required_pad_clearance": 0.05297025883523683, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9755752592955176, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007979333400726318, + "max_z_decrease": 0.007979333400726318, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03510203695095298, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007979333400726318, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02123269890914848, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007979333400726318, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007979359624407788, + "max_button_displacement": 0.12, + "button_start": [ + 0.17923742532730103, + -0.3856424987316131, + 0.7768088579177856 + ], + "button_final": [ + 0.17923742532730103, + -0.3856424987316131, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18064941065844256, + -0.38626470906042804, + 0.8038968797813627 + ], + "closest_button": [ + 0.17921729385852816, + -0.3856461346149444, + 0.7688295245170593 + ], + "closest_ee_minus_button": [ + 0.0014321167999143958, + -0.0006185744454836328, + 0.03506735526430338 + ], + "button_min_z_position": [ + 0.17921729385852816, + -0.3856461346149444, + 0.7688295245170593 + ], + "min_active_finger_to_button": 0.14441937759171233, + "closest_active_finger": [ + 0.039791420102119446, + -0.371224582195282, + 0.8081411719322205 + ], + "closest_active_finger_button": [ + 0.17924590408802035, + -0.38564887642860407, + 0.7734807729721069 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1394544839859009, + 0.014424294233322088, + 0.034660398960113525 + ], + "min_contact_pad_to_button": 0.02123269890914848, + "closest_contact_pad": [ + 0.17921729385852816, + -0.3873523851773381, + 0.7899935556072105 + ], + "closest_contact_pad_button": [ + 0.17921729385852816, + -0.3856461346149444, + 0.7688295245170593 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0017062505623937074, + 0.021164031090151192 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 8, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d9a97e1ace19e0f29b2b44d2eb70bb5b94e8422793088e1b3087a07c6f0a6a24", + "visual_seed": 1748721537345664569, + "episode_index": 8, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_90_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_90_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fcae1e2dcd7f3ef8499f91a49c9c63fc47aff557 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_90_success.json @@ -0,0 +1,700 @@ +{ + "episode": 90, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.38055839424146914, + -0.08886888380457034, + 1.1643772721307637 + ], + "current_z": 1.1643772721307637, + "required_z": 0.8611067464333451, + "initial_z": 0.7611067464333451, + "lift_margin": 0.30327052569741864, + "gripper_z": 1.1539490033040303, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37624758029680544, + -0.09330951103488236, + 1.1539490033040303 + ], + "object_minus_gripper": [ + 0.004310813944663705, + 0.004440627230312022, + 0.010428268826733422 + ], + "object_to_gripper_xy": 0.006188884153391116, + "object_to_gripper_z": 0.010428268826733422, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.38055839424146914, + -0.11252252812784207, + 1.1643772721307637 + ], + "finger_b": [ + 0.37030113822525235, + -0.08886888380457034, + 1.1643772721307637 + ], + "finger_midpoint": [ + 0.3754297662333608, + -0.1006957059662062, + 1.1643772721307637 + ], + "object_minus_finger_midpoint": [ + 0.005128628008108371, + 0.011826822161635858, + 0.0 + ], + "finger_gap": 0.025781896570152875, + "fingertip_max_gap": 0.09156805174645202, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01289094828507642, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1643772721307637, + "object_top_z": 1.2141977120756047, + "finger_top_clearance": 0.04982043994484098, + "fingertip_min_top_clearance": 0.014946131983452293, + "object_projection_between_fingers": 0.8417175852343709, + "object_to_finger_line_xy": 0.009410536764824687, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048284025873226014, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4995614062272073, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 362, + "max_stable_success_frames": 362, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3352118717611113, + -0.3258001839618172, + 0.8515395633503687 + ], + "target_position": [ + 0.32697126046509795, + -0.3277945744122439, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008478518019131399, + "xy_threshold": 0.08, + "gripper_dist": 0.18497309961286076, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395633503687, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07581947585606832, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08709558418561168, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15236565979441447, + "release_required_pad_clearance": 0.05354779209280584, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.1070115150505098, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007979750633239746, + "max_z_decrease": 0.007979750633239746, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035095243336423027, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007979750633239746, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02134057974582964, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007979750633239746, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007979775784182653, + "max_button_displacement": 0.12, + "button_start": [ + 0.1826711893081665, + -0.384056031703949, + 0.7768088579177856 + ], + "button_final": [ + 0.1826711893081665, + -0.384056031703949, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18118778853185663, + -0.3858190790159216, + 0.8061257952561667 + ], + "closest_button": [ + 0.18265588581562037, + -0.38405555486679077, + 0.7711056470870972 + ], + "closest_ee_minus_button": [ + -0.0014680972837637363, + -0.001763524149130835, + 0.03502014816906951 + ], + "button_min_z_position": [ + 0.18265146017074582, + -0.38405951857566833, + 0.7688291072845459 + ], + "min_active_finger_to_button": 0.14738454592756356, + "closest_active_finger": [ + 0.04008212685585022, + -0.370553195476532, + 0.8076288104057312 + ], + "closest_active_finger_button": [ + 0.182681068778038, + -0.38406518101692194, + 0.7729132175445557 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14259894192218778, + 0.01351198554038996, + 0.03471559286117554 + ], + "min_contact_pad_to_button": 0.02134057974582964, + "closest_contact_pad": [ + 0.18265146017074582, + -0.38700043077012003, + 0.7899660744121316 + ], + "closest_contact_pad_button": [ + 0.18265146017074582, + -0.38405951857566833, + 0.7688291072845459 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0029409121944516947, + 0.021136967127585726 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 90, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9201bed59949ab6ecbaa52c53b46d4e8c95cb8be519eb773c7598b09d59ea54e", + "visual_seed": 3732998777376897547, + "episode_index": 90, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_91_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_91_success.json new file mode 100644 index 0000000000000000000000000000000000000000..87cf124d246358ce40b9b76db1c1f5f6d544d56f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_91_success.json @@ -0,0 +1,700 @@ +{ + "episode": 91, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.38085525015616584, + -0.08721692161435834, + 1.1645381049095427 + ], + "current_z": 1.1645381049095427, + "required_z": 0.8611065676194106, + "initial_z": 0.7611065676194106, + "lift_margin": 0.30343153729013206, + "gripper_z": 1.154113048665543, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3767115585664903, + -0.09165249843444301, + 1.154113048665543 + ], + "object_minus_gripper": [ + 0.0041436915896755355, + 0.0044355768200846635, + 0.010425056243999586 + ], + "object_to_gripper_xy": 0.006069968839888731, + "object_to_gripper_z": 0.010425056243999586, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.38085525015616584, + -0.11058305316897249, + 1.1645381049095427 + ], + "finger_b": [ + 0.3703868079978327, + -0.08721692161435834, + 1.1645381049095427 + ], + "finger_midpoint": [ + 0.37562102907699924, + -0.09889998739166542, + 1.1645381049095427 + ], + "object_minus_finger_midpoint": [ + 0.005234221079166601, + 0.011683065777307072, + 0.0 + ], + "finger_gap": 0.025603991584319457, + "fingertip_max_gap": 0.09185867763722519, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01280199579215974, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1645381049095427, + "object_top_z": 1.2143363189650078, + "finger_top_clearance": 0.04979821405546514, + "fingertip_min_top_clearance": 0.014939464216639541, + "object_projection_between_fingers": 0.8328336869398039, + "object_to_finger_line_xy": 0.009553471217092777, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0484293388186126, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7797675806912594, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 360, + "max_stable_success_frames": 360, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33459084588105226, + -0.32573655709707294, + 0.8515396106761475 + ], + "target_position": [ + 0.32558516156250594, + -0.32787117201262733, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00925521101234425, + "xy_threshold": 0.08, + "gripper_dist": 0.18506150907081434, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396106761475, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07554488209216587, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08633446201590748, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15338759079191489, + "release_required_pad_clearance": 0.053167231007953744, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3585233967100614, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00783318281173706, + "max_z_decrease": 0.00783318281173706, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03506061821201579, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00783318281173706, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021218002974305983, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00783318281173706, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007833203273750085, + "max_button_displacement": 0.12, + "button_start": [ + 0.1812850832939148, + -0.38413262367248524, + 0.7768088579177856 + ], + "button_final": [ + 0.1812850832939148, + -0.38413262367248524, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1814891129394903, + -0.38216706179307924, + 0.8074413990494913 + ], + "closest_button": [ + 0.18127374351024625, + -0.3841364383697509, + 0.772436797618866 + ], + "closest_ee_minus_button": [ + 0.00021536942924405, + 0.0019693765766716775, + 0.03500460143062534 + ], + "button_min_z_position": [ + 0.18126773834228516, + -0.38413706421852106, + 0.7689756751060486 + ], + "min_active_finger_to_button": 0.14526944676664638, + "closest_active_finger": [ + 0.05403881520032883, + -0.4449401795864105, + 0.8078169822692871 + ], + "closest_active_finger_button": [ + 0.18129782378673553, + -0.3841387033462524, + 0.7730098366737366 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1272590085864067, + -0.06080147624015814, + 0.03480714559555054 + ], + "min_contact_pad_to_button": 0.021218002974305983, + "closest_contact_pad": [ + 0.18126773834228516, + -0.38413706421852106, + 0.7901936780803546 + ], + "closest_contact_pad_button": [ + 0.18126773834228516, + -0.38413706421852106, + 0.7689756751060486 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021218002974305983 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 91, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "89e16dfed110b93dd70e5a8100c70c41f3d45dbcc4fac99f50e9adf74a979824", + "visual_seed": 3914492965795361296, + "episode_index": 91, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_92_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_92_success.json new file mode 100644 index 0000000000000000000000000000000000000000..dd90df1a15a45a187615afab6bbd0e3883ac3a74 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_92_success.json @@ -0,0 +1,700 @@ +{ + "episode": 92, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.37862910328565885, + -0.08967010347303979, + 1.1648425094458412 + ], + "current_z": 1.1648425094458412, + "required_z": 0.8611066868287002, + "initial_z": 0.7611066868287002, + "lift_margin": 0.30373582261714105, + "gripper_z": 1.154465913641869, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3745682806155321, + -0.09412137288835619, + 1.154465913641869 + ], + "object_minus_gripper": [ + 0.004060822670126751, + 0.0044512694153164, + 0.010376595803972322 + ], + "object_to_gripper_xy": 0.006025286728940505, + "object_to_gripper_z": 0.010376595803972322, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.37862910328565885, + -0.11293224231685575, + 1.1648425094458412 + ], + "finger_b": [ + 0.3680654103361884, + -0.08967010347303979, + 1.1648425094458412 + ], + "finger_midpoint": [ + 0.3733472568109236, + -0.10130117289494778, + 1.1648425094458412 + ], + "object_minus_finger_midpoint": [ + 0.00528184647473523, + 0.011631069421907989, + 0.0 + ], + "finger_gap": 0.02554836026675026, + "fingertip_max_gap": 0.09171369100653146, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012774180133375135, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1648425094458412, + "object_top_z": 1.2146758917675995, + "finger_top_clearance": 0.04983338232175827, + "fingertip_min_top_clearance": 0.014950014696527514, + "object_projection_between_fingers": 0.8290356831748974, + "object_to_finger_line_xy": 0.009618389968213775, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04835684550326573, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7083242621646548, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 367, + "max_stable_success_frames": 367, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33305427481405314, + -0.3305582250362026, + 0.8515395875140127 + ], + "target_position": [ + 0.3241280202894324, + -0.3328779215043887, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009222744252272628, + "xy_threshold": 0.08, + "gripper_dist": 0.18430777739588486, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395875140127, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07569417820316243, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08638705952070667, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15219917895745713, + "release_required_pad_clearance": 0.05319352976035334, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.40997780975791, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00816422700881958, + "max_z_decrease": 0.00816422700881958, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503846041935308, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00816422700881958, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021123002098327594, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00816422700881958, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008164238361668751, + "max_button_displacement": 0.12, + "button_start": [ + 0.17982794344425196, + -0.38913938403129567, + 0.7768088579177856 + ], + "button_final": [ + 0.17982794344425196, + -0.38913938403129567, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18127042234893842, + -0.38969065792598145, + 0.8036484848377666 + ], + "closest_button": [ + 0.1798179149627685, + -0.3891301751136779, + 0.7686446309089661 + ], + "closest_ee_minus_button": [ + 0.0014525073861699211, + -0.000560482812303531, + 0.035003853928800566 + ], + "button_min_z_position": [ + 0.1798179149627685, + -0.3891301751136779, + 0.7686446309089661 + ], + "min_active_finger_to_button": 0.14438382914508816, + "closest_active_finger": [ + 0.040339402854442596, + -0.37529802322387695, + 0.8084101676940918 + ], + "closest_active_finger_button": [ + 0.17983457446098322, + -0.3891463577747344, + 0.7738267779350281 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13949517160654062, + 0.013848334550857433, + 0.03458338975906372 + ], + "min_contact_pad_to_button": 0.021123002098327594, + "closest_contact_pad": [ + 0.1798179149627685, + -0.3907196690772501, + 0.7897077438457026 + ], + "closest_contact_pad_button": [ + 0.1798179149627685, + -0.3891301751136779, + 0.7686446309089661 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0015894939635721639, + 0.021063112936736572 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 92, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "086ee9f92a95e9815ad9e8df68d8d60f3638efa4d07bf23c9902e12f85570cea", + "visual_seed": 3842228806026501851, + "episode_index": 92, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_93_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_93_success.json new file mode 100644 index 0000000000000000000000000000000000000000..eba0512fe9ab572644fe2d570da259ad786ac222 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_93_success.json @@ -0,0 +1,700 @@ +{ + "episode": 93, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3790355671258632, + -0.09141878425548422, + 1.1646573210879865 + ], + "current_z": 1.1646573210879865, + "required_z": 0.8611066868287002, + "initial_z": 0.7611066868287002, + "lift_margin": 0.3035506342592863, + "gripper_z": 1.1542569264318412, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37499515145535645, + -0.09581800490153417, + 1.1542569264318412 + ], + "object_minus_gripper": [ + 0.004040415670506781, + 0.004399220646049945, + 0.010400394656145284 + ], + "object_to_gripper_xy": 0.005973114856011799, + "object_to_gripper_z": 0.010400394656145284, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3790355671258632, + -0.1147863451586563, + 1.1646573210879865 + ], + "finger_b": [ + 0.3687175948984069, + -0.09141878425548422, + 1.1646573210879865 + ], + "finger_midpoint": [ + 0.37387658101213506, + -0.10310256470707026, + 1.1646573210879865 + ], + "object_minus_finger_midpoint": [ + 0.00515898611372817, + 0.011683780451586037, + 0.0 + ], + "finger_gap": 0.02554414714665605, + "fingertip_max_gap": 0.09204955635264331, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012772073573328026, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1646573210879865, + "object_top_z": 1.214415863739414, + "finger_top_clearance": 0.04975854265142754, + "fingertip_min_top_clearance": 0.014927562795428262, + "object_projection_between_fingers": 0.8368429311390372, + "object_to_finger_line_xy": 0.009438790147820113, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048524778176321656, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.013300186697972, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 356, + "max_stable_success_frames": 356, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3318431633318183, + -0.3262778441872166, + 0.8515396080034439 + ], + "target_position": [ + 0.32420422938894167, + -0.32770959899057944, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0077719517240256416, + "xy_threshold": 0.08, + "gripper_dist": 0.18512447803098137, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396080034439, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07523564081368338, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08514746747973422, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15400176479241773, + "release_required_pad_clearance": 0.05257373373986711, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.2130623553771663, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00785839557647705, + "max_z_decrease": 0.00785839557647705, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03507192408131456, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00785839557647705, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021309212283592883, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00785839557647705, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007858421628162962, + "max_button_displacement": 0.12, + "button_start": [ + 0.17990414798259732, + -0.3839710652828216, + 0.7768088579177856 + ], + "button_final": [ + 0.17990414798259732, + -0.3839710652828216, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1800949359710823, + -0.38536964122214146, + 0.806181726684466 + ], + "closest_button": [ + 0.17988847196102137, + -0.38397398591041565, + 0.7711381912231445 + ], + "closest_ee_minus_button": [ + 0.00020646401006094162, + -0.0013956553117258075, + 0.03504353546132144 + ], + "button_min_z_position": [ + 0.17988419532775873, + -0.38397443294525146, + 0.7689504623413086 + ], + "min_active_finger_to_button": 0.14577309216763784, + "closest_active_finger": [ + 0.039016395807266235, + -0.3699837327003479, + 0.8077110648155212 + ], + "closest_active_finger_button": [ + 0.17991274595260615, + -0.3839782774448395, + 0.7730388045310974 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1408963501453399, + 0.013994544744491577, + 0.03467226028442383 + ], + "min_contact_pad_to_button": 0.021309212283592883, + "closest_contact_pad": [ + 0.17988419532775873, + -0.38654987936449053, + 0.7901034669479562 + ], + "closest_contact_pad_button": [ + 0.17988419532775873, + -0.38397443294525146, + 0.7689504623413086 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002575446419239069, + 0.021153004606647596 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 93, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "077c7ed79aded55d352960f0990203ad7147b38be0fa7a5841e81c75032a6815", + "visual_seed": 9070818912196907694, + "episode_index": 93, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_94_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_94_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b2cd1e3467f15d75a44ba5f633b1b1903ab2ffb1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_94_success.json @@ -0,0 +1,700 @@ +{ + "episode": 94, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3794123588411535, + -0.08315112988897223, + 1.1649744718505937 + ], + "current_z": 1.1649744718505937, + "required_z": 0.8611066868287002, + "initial_z": 0.7611066868287002, + "lift_margin": 0.3038677850218935, + "gripper_z": 1.1545750286132899, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.375350863198185, + -0.08757196780714953, + 1.1545750286132899 + ], + "object_minus_gripper": [ + 0.004061495642968482, + 0.004420837918177295, + 0.010399443237303796 + ], + "object_to_gripper_xy": 0.006003295324790054, + "object_to_gripper_z": 0.010399443237303796, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3794123588411535, + -0.10643249192533873, + 1.1649744718505937 + ], + "finger_b": [ + 0.36892161976529564, + -0.08315112988897223, + 1.1649744718505937 + ], + "finger_midpoint": [ + 0.37416698930322456, + -0.09479181090715548, + 1.1649744718505937 + ], + "object_minus_finger_midpoint": [ + 0.005245369537928923, + 0.011640681018183247, + 0.0 + ], + "finger_gap": 0.02553580671578828, + "fingertip_max_gap": 0.09206513901583743, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01276790335789414, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1649744718505937, + "object_top_z": 1.2147871546048754, + "finger_top_clearance": 0.049812682754281745, + "fingertip_min_top_clearance": 0.014943804826284556, + "object_projection_between_fingers": 0.831223099893641, + "object_to_finger_line_xy": 0.00956455761012224, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04853256950791872, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9851503744981132, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 365, + "max_stable_success_frames": 365, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.34112626136951807, + -0.33187803454638354, + 0.8515396068945278 + ], + "target_position": [ + 0.332253392599908, + -0.33430316217399797, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009198317466414205, + "xy_threshold": 0.08, + "gripper_dist": 0.18479280339428475, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396068945278, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07558678638393318, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08551791248987377, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15300620663986864, + "release_required_pad_clearance": 0.052758956244936886, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5678605908430859, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007998466491699219, + "max_z_decrease": 0.007998466491699219, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502344725090041, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007998466491699219, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021400139728865303, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 119, + "max_z_decrease_with_contact_point": 0.007998466491699219, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007998481929366492, + "max_button_displacement": 0.12, + "button_start": [ + 0.18795332312583923, + -0.3905646204948425, + 0.7768088579177856 + ], + "button_final": [ + 0.18795332312583923, + -0.3905646204948425, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18746678235593786, + -0.3920275510798815, + 0.8038768134402944 + ], + "closest_button": [ + 0.18793617188930511, + -0.3905626833438873, + 0.7688871622085571 + ], + "closest_ee_minus_button": [ + -0.00046938953336725375, + -0.0014648677359942464, + 0.03498965123173725 + ], + "button_min_z_position": [ + 0.18793775141239166, + -0.390562504529953, + 0.7688103914260864 + ], + "min_active_finger_to_button": 0.14631229116222833, + "closest_active_finger": [ + 0.04685583710670471, + -0.3747788369655609, + 0.8084036111831665 + ], + "closest_active_finger_button": [ + 0.18796606361865997, + -0.39057171344757075, + 0.7731080651283264 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14111022651195526, + 0.015792876482009832, + 0.03529554605484009 + ], + "min_contact_pad_to_button": 0.021400139728865303, + "closest_contact_pad": [ + 0.18793775141239166, + -0.3933218647533494, + 0.7900318878759718 + ], + "closest_contact_pad_button": [ + 0.18793775141239166, + -0.390562504529953, + 0.7688103914260864 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002759360223396401, + 0.021221496449885358 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 94, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "87f6323a763f485dc7330b98f4293787e798991e3aae73a2f35976d4fff0b467", + "visual_seed": 3482063694795745215, + "episode_index": 94, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_95_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_95_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9a1be15ec96d9f7a4ae9474b1685df00182b1903 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_95_success.json @@ -0,0 +1,700 @@ +{ + "episode": 95, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3834912369664399, + -0.0856738446683521, + 1.16632917869279 + ], + "current_z": 1.16632917869279, + "required_z": 0.8611065676194106, + "initial_z": 0.7611065676194106, + "lift_margin": 0.30522261107337945, + "gripper_z": 1.1557613535105815, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3795491034611133, + -0.08986305737693874, + 1.1557613535105815 + ], + "object_minus_gripper": [ + 0.003942133505326573, + 0.004189212708586645, + 0.010567825182208557 + ], + "object_to_gripper_xy": 0.005752383826867104, + "object_to_gripper_z": 0.010567825182208557, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3834912369664399, + -0.10918387393441091, + 1.16632917869279 + ], + "finger_b": [ + 0.37376150122102564, + -0.0856738446683521, + 1.16632917869279 + ], + "finger_midpoint": [ + 0.37862636909373276, + -0.09742885930138151, + 1.16632917869279 + ], + "object_minus_finger_midpoint": [ + 0.004864867872707124, + 0.011755014633029415, + 0.0 + ], + "finger_gap": 0.025443844712749953, + "fingertip_max_gap": 0.09211535343024327, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012721922356374983, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.16632917869279, + "object_top_z": 1.2160919680172253, + "finger_top_clearance": 0.04976278932443523, + "fingertip_min_top_clearance": 0.014928836797330569, + "object_projection_between_fingers": 0.8537699536261805, + "object_to_finger_line_xy": 0.008990243994496742, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048557676715121637, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.0680355777148183, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 360, + "max_stable_success_frames": 360, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3353169458989718, + -0.3254947444065122, + 0.8515395827561444 + ], + "target_position": [ + 0.3289846863119119, + -0.3263382577007861, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006388194279726386, + "xy_threshold": 0.08, + "gripper_dist": 0.18391538338198526, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395827561444, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07564813974772938, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08799453495911506, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1515225250676312, + "release_required_pad_clearance": 0.053997267479557534, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.005700231880076, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007927119731903076, + "max_z_decrease": 0.007927119731903076, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504503143962313, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007927119731903076, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02118422617092303, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007927119731903076, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00792714537828435, + "max_button_displacement": 0.12, + "button_start": [ + 0.18468461930751798, + -0.3825997114181518, + 0.7768088579177856 + ], + "button_final": [ + 0.18468461930751798, + -0.3825997114181518, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18397323581860753, + -0.381516596130389, + 0.8073377019482307 + ], + "closest_button": [ + 0.1846719533205032, + -0.38260403275489807, + 0.7723165154457092 + ], + "closest_ee_minus_button": [ + -0.0006987175018956793, + 0.0010874366245090528, + 0.035021186502521506 + ], + "button_min_z_position": [ + 0.18466483056545255, + -0.38260358572006226, + 0.7688817381858826 + ], + "min_active_finger_to_button": 0.14639339581469918, + "closest_active_finger": [ + 0.057217881083488464, + -0.44566673040390015, + 0.8076710104942322 + ], + "closest_active_finger_button": [ + 0.18469357490539548, + -0.38260486721992487, + 0.7729697823524475 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12747569382190702, + -0.06306186318397528, + 0.03470122814178467 + ], + "min_contact_pad_to_button": 0.02118422617092303, + "closest_contact_pad": [ + 0.18466483056545255, + -0.38268533122641696, + 0.7900658066367966 + ], + "closest_contact_pad_button": [ + 0.18466483056545255, + -0.38260358572006226, + 0.7688817381858826 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -8.174550635470235e-05, + 0.02118406845091403 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 95, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "66eb7031f8ff6ec5e84c352c1128b4a5eb8877e8b6931f1d0d759b798341a219", + "visual_seed": 1943044328993506390, + "episode_index": 95, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_96_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_96_success.json new file mode 100644 index 0000000000000000000000000000000000000000..dfc2122528063a4fdb4ed6090478830bc6ec318d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_96_success.json @@ -0,0 +1,700 @@ +{ + "episode": 96, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.38454211490926477, + -0.08764941423612635, + 1.1656018005551974 + ], + "current_z": 1.1656018005551974, + "required_z": 0.8611063888054762, + "initial_z": 0.7611063888054762, + "lift_margin": 0.30449541174972117, + "gripper_z": 1.1551342359321426, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.38033544298989863, + -0.09197996715387913, + 1.1551342359321426 + ], + "object_minus_gripper": [ + 0.004206671919366134, + 0.004330552917752778, + 0.01046756462305476 + ], + "object_to_gripper_xy": 0.006037365088400788, + "object_to_gripper_z": 0.01046756462305476, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.38454211490926477, + -0.11120770166806386, + 1.1656018005551974 + ], + "finger_b": [ + 0.3744343747818632, + -0.08764941423612635, + 1.1656018005551974 + ], + "finger_midpoint": [ + 0.379488244845564, + -0.0994285579520951, + 1.1656018005551974 + ], + "object_minus_finger_midpoint": [ + 0.005053870063700783, + 0.011779143715968748, + 0.0 + ], + "finger_gap": 0.025635118825721653, + "fingertip_max_gap": 0.09224007449277957, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01281755941286082, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1656018005551974, + "object_top_z": 1.2153548359550932, + "finger_top_clearance": 0.04975303539989584, + "fingertip_min_top_clearance": 0.014925910619968785, + "object_projection_between_fingers": 0.8445332694710745, + "object_to_finger_line_xy": 0.009288860676929264, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04862003724638979, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.18538058210034, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 357, + "max_stable_success_frames": 357, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.339547956940718, + -0.32619534208625645, + 0.8515396057670547 + ], + "target_position": [ + 0.33264835493549333, + -0.3274178821522287, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007007075855405565, + "xy_threshold": 0.08, + "gripper_dist": 0.1817442634329774, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396057670547, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07575712605320599, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08793615821446259, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14940259629327735, + "release_required_pad_clearance": 0.053968079107231295, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.946786878007195, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0080946683883667, + "max_z_decrease": 0.0080946683883667, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035040635918975035, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0080946683883667, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021243923096250915, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0080946683883667, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008094714696813592, + "max_button_displacement": 0.12, + "button_start": [ + 0.1883482784032821, + -0.3836793303489685, + 0.7768088579177856 + ], + "button_final": [ + 0.1883482784032821, + -0.3836793303489685, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18648366075590164, + -0.3836633972834624, + 0.8074694396189885 + ], + "closest_button": [ + 0.18833829462528223, + -0.3836831748485565, + 0.772477924823761 + ], + "closest_ee_minus_button": [ + -0.0018546338693805897, + 1.977756509413675e-05, + 0.03499151479522755 + ], + "button_min_z_position": [ + 0.1883209198713302, + -0.38368043303489685, + 0.768714189529419 + ], + "min_active_finger_to_button": 0.1479291501209731, + "closest_active_finger": [ + 0.05944093316793442, + -0.4473053514957428, + 0.8077304363250732 + ], + "closest_active_finger_button": [ + 0.1883582323789596, + -0.3836869001388549, + 0.7728584408760071 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12891729921102518, + -0.06361845135688787, + 0.03487199544906616 + ], + "min_contact_pad_to_button": 0.021243923096250915, + "closest_contact_pad": [ + 0.1883209198713302, + -0.3848638507916591, + 0.7899251251743263 + ], + "closest_contact_pad_button": [ + 0.1883209198713302, + -0.38368043303489685, + 0.768714189529419 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0011834177567622284, + 0.02121093564490739 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 96, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "068e132adb39a4b866a26ca854cfbafadb53ff85e60583ba72cd48d22b3710cb", + "visual_seed": 1736628950199238487, + "episode_index": 96, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_97_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_97_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c4a590ca7e5e87c540c8cf29e791a4fad398672e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_97_success.json @@ -0,0 +1,700 @@ +{ + "episode": 97, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3808711479351031, + -0.08874317369830803, + 1.1660553226167951 + ], + "current_z": 1.1660553226167951, + "required_z": 0.8611066272240555, + "initial_z": 0.7611066272240555, + "lift_margin": 0.3049486953927396, + "gripper_z": 1.1556317158883485, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37669997600208727, + -0.0930983107028067, + 1.1556317158883485 + ], + "object_minus_gripper": [ + 0.00417117193301586, + 0.004355137004498674, + 0.010423606728446666 + ], + "object_to_gripper_xy": 0.006030414050687809, + "object_to_gripper_z": 0.010423606728446666, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3808711479351031, + -0.11219325887665917, + 1.1660553226167951 + ], + "finger_b": [ + 0.37060817918879185, + -0.08874317369830803, + 1.1660553226167951 + ], + "finger_midpoint": [ + 0.3757396635619475, + -0.10046821628748359, + 1.1660553226167951 + ], + "object_minus_finger_midpoint": [ + 0.005131484373155637, + 0.01172504258917556, + 0.0 + ], + "finger_gap": 0.025597558914077834, + "fingertip_max_gap": 0.09219755527293291, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012798779457038912, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1660553226167951, + "object_top_z": 1.215859606713809, + "finger_top_clearance": 0.04980428409701387, + "fingertip_min_top_clearance": 0.014941285229104194, + "object_projection_between_fingers": 0.8392507666814811, + "object_to_finger_line_xy": 0.0094019704023963, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04859877763646646, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.0651712298184535, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 361, + "max_stable_success_frames": 361, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3348425583325789, + -0.32533596517793734, + 0.8515395581390156 + ], + "target_position": [ + 0.3278015549363627, + -0.326430825036197, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007125619056247445, + "xy_threshold": 0.08, + "gripper_dist": 0.18420274872722128, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395581390156, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07515132613786503, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08665079797715618, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15322925779098923, + "release_required_pad_clearance": 0.05332539898857809, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.668312453463895, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008014500141143799, + "max_z_decrease": 0.008014500141143799, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035066703630020846, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008014500141143799, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02115461863311577, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008014500141143799, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008014533481440468, + "max_button_displacement": 0.12, + "button_start": [ + 0.1835014820098877, + -0.382692277431488, + 0.7768088579177856 + ], + "button_final": [ + 0.1835014820098877, + -0.382692277431488, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18274723890047148, + -0.3821233525960313, + 0.8062708993521075 + ], + "closest_button": [ + 0.1834859848022461, + -0.3826945126056671, + 0.771216630935669 + ], + "closest_ee_minus_button": [ + -0.0007387459017746123, + 0.0005711600096358072, + 0.03505426841643855 + ], + "button_min_z_position": [ + 0.18347890675067902, + -0.3826972544193268, + 0.7687943577766418 + ], + "min_active_finger_to_button": 0.14647603723944003, + "closest_active_finger": [ + 0.056482553482055664, + -0.44690972566604614, + 0.8108384013175964 + ], + "closest_active_finger_button": [ + 0.18350690603256226, + -0.38269636034965515, + 0.7762452363967896 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1270243525505066, + -0.06421336531639099, + 0.034593164920806885 + ], + "min_contact_pad_to_button": 0.02115461863311577, + "closest_contact_pad": [ + 0.1834817677736282, + -0.38318649892456813, + 0.7900238082234531 + ], + "closest_contact_pad_button": [ + 0.1834817677736282, + -0.38269570469856257, + 0.7688748836517334 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0004907942260055642, + 0.021148924571719685 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 97, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "761d6275c46f9006ffdbab022aa72a0b540e787af504fa95a0274a1554afa4f4", + "visual_seed": 503671285268109626, + "episode_index": 97, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_98_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_98_success.json new file mode 100644 index 0000000000000000000000000000000000000000..49be1571e044b64431ca2d992348b3e35829d490 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_98_success.json @@ -0,0 +1,700 @@ +{ + "episode": 98, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.381389057523697, + -0.08919252543609801, + 1.1644609534750425 + ], + "current_z": 1.1644609534750425, + "required_z": 0.8611066868287004, + "initial_z": 0.7611066868287004, + "lift_margin": 0.30335426664634213, + "gripper_z": 1.154053987767975, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3771679414391762, + -0.09356995071852059, + 1.154053987767975 + ], + "object_minus_gripper": [ + 0.004221116084520804, + 0.004377425282422576, + 0.010406965707067561 + ], + "object_to_gripper_xy": 0.006081091440045332, + "object_to_gripper_z": 0.010406965707067561, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.381389057523697, + -0.11268417933207758, + 1.1644609534750425 + ], + "finger_b": [ + 0.37110004140599756, + -0.08919252543609801, + 1.1644609534750425 + ], + "finger_midpoint": [ + 0.3762445494648473, + -0.1009383523840878, + 1.1644609534750425 + ], + "object_minus_finger_midpoint": [ + 0.005144508058849695, + 0.011745826947989785, + 0.0 + ], + "finger_gap": 0.025646084602503578, + "fingertip_max_gap": 0.09207845038963333, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012823042301251777, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1644609534750425, + "object_top_z": 1.2142814995522246, + "finger_top_clearance": 0.049820546077182115, + "fingertip_min_top_clearance": 0.014946163823154668, + "object_projection_between_fingers": 0.8390445991934743, + "object_to_finger_line_xy": 0.009424674733528534, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04853922519481667, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8893107999255518, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 360, + "max_stable_success_frames": 360, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33731112630125526, + -0.3261261618871725, + 0.8515395087554891 + ], + "target_position": [ + 0.328271356245072, + -0.3284572475095116, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009335491569668085, + "xy_threshold": 0.08, + "gripper_dist": 0.18517509553033168, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395087554891, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07588111529972698, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08679974420719565, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15262941504666497, + "release_required_pad_clearance": 0.053399872103597826, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.8148263841217225, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007985413074493408, + "max_z_decrease": 0.007985413074493408, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500064686949673, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007985413074493408, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021273259997040647, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007985413074493408, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007985435733531923, + "max_button_displacement": 0.12, + "button_start": [ + 0.1839712858200073, + -0.3847187161445617, + 0.7768088579177856 + ], + "button_final": [ + 0.1839712858200073, + -0.3847187161445617, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1834077491642652, + -0.3849300369135025, + 0.8068980052569453 + ], + "closest_button": [ + 0.18395881354808807, + -0.3847207129001617, + 0.771902322769165 + ], + "closest_ee_minus_button": [ + -0.0005510643838228801, + -0.00020932401334083917, + 0.03499568248778029 + ], + "button_min_z_position": [ + 0.18395258486270902, + -0.3847222030162811, + 0.7688234448432922 + ], + "min_active_finger_to_button": 0.1467837111714894, + "closest_active_finger": [ + 0.042333804070949554, + -0.3686021566390991, + 0.8078871369361877 + ], + "closest_active_finger_button": [ + 0.18398252129554746, + -0.38472276926040644, + 0.7729411125183105 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1416487172245979, + 0.016120612621307318, + 0.0349460244178772 + ], + "min_contact_pad_to_button": 0.021273259997040647, + "closest_contact_pad": [ + 0.18395258486270902, + -0.3862223516653331, + 0.7900437451458902 + ], + "closest_contact_pad_button": [ + 0.18395258486270902, + -0.3847222030162811, + 0.7688234448432922 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0015001486490520133, + 0.021220300302597916 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 98, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5ac050e992ce81c60fe6ad128bd019abd5fe56cc905813a92ffad1bc9d280833", + "visual_seed": 1592262532349243951, + "episode_index": 98, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_99_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_99_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4ed70d2f6c8c438847a8412d23217825c22a4261 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_99_success.json @@ -0,0 +1,700 @@ +{ + "episode": 99, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3842868673062886, + -0.08731775587298017, + 1.1673689720490832 + ], + "current_z": 1.1673689720490832, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.3062625236389621, + "gripper_z": 1.1568910378777604, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3802365563797321, + -0.0917352276988349, + 1.1568910378777604 + ], + "object_minus_gripper": [ + 0.0040503109265565, + 0.004417471825854724, + 0.010477934171322811 + ], + "object_to_gripper_xy": 0.0059932525338086025, + "object_to_gripper_z": 0.010477934171322811, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3842868673062886, + -0.11063581750951579, + 1.1673689720490832 + ], + "finger_b": [ + 0.3738553867821889, + -0.08731775587298017, + 1.1673689720490832 + ], + "finger_midpoint": [ + 0.37907112704423873, + -0.09897678669124799, + 1.1673689720490832 + ], + "object_minus_finger_midpoint": [ + 0.0052157402620498505, + 0.011659030818267815, + 0.0 + ], + "finger_gap": 0.025545014864155894, + "fingertip_max_gap": 0.09192236065954326, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012772507432077952, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1673689720490832, + "object_top_z": 1.2172071552253076, + "finger_top_clearance": 0.04983818317622446, + "fingertip_min_top_clearance": 0.014951454952867337, + "object_projection_between_fingers": 0.8332447239506512, + "object_to_finger_line_xy": 0.009522089030474164, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04846118032977163, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8857614107948701, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 370, + "max_stable_success_frames": 370, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3411207857346883, + -0.3286452198482722, + 0.8515395809383574 + ], + "target_position": [ + 0.33257357390804076, + -0.3307815475036405, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008810149026019641, + "xy_threshold": 0.08, + "gripper_dist": 0.18466849949592962, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395809383574, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07547231857044022, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08694372589815806, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15298996853285785, + "release_required_pad_clearance": 0.05347186294907903, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.9567763051307865, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008098900318145752, + "max_z_decrease": 0.008098900318145752, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035042137009305155, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008098900318145752, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021206515475257315, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008098900318145752, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008098958239914765, + "max_button_displacement": 0.12, + "button_start": [ + 0.18827350437641144, + -0.38704299926757807, + 0.7768088579177856 + ], + "button_final": [ + 0.18827350437641144, + -0.38704299926757807, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18707175918065155, + -0.3854165648521509, + 0.8036946775988029 + ], + "closest_button": [ + 0.18824289739131925, + -0.3870441913604736, + 0.7687099575996399 + ], + "closest_ee_minus_button": [ + -0.0011711382106676937, + 0.0016276265083226549, + 0.03498471999916297 + ], + "button_min_z_position": [ + 0.18824289739131925, + -0.3870441913604736, + 0.7687099575996399 + ], + "min_active_finger_to_button": 0.14640431861537362, + "closest_active_finger": [ + 0.05940993130207062, + -0.446824848651886, + 0.8082073926925659 + ], + "closest_active_finger_button": [ + 0.18828763067722318, + -0.3870486021041869, + 0.7728299498558044 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12887769937515256, + -0.059776246547699086, + 0.035377442836761475 + ], + "min_contact_pad_to_button": 0.021206515475257315, + "closest_contact_pad": [ + 0.18824289739131925, + -0.3870441913604736, + 0.7899164730748972 + ], + "closest_contact_pad_button": [ + 0.18824289739131925, + -0.3870441913604736, + 0.7687099575996399 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021206515475257315 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 99, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "98f5e9b1d151e3c33c8df519fedb01e7012afe0f5f0ba7b66c0adc04babefed8", + "visual_seed": 5801042333034380558, + "episode_index": 99, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_9_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_9_success.json new file mode 100644 index 0000000000000000000000000000000000000000..53b2b62fa202b8a9840b2268a2e107da34f14ef0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/episode_9_success.json @@ -0,0 +1,700 @@ +{ + "episode": 9, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3780637699445597, + -0.08667301959439778, + 1.1667922151774652 + ], + "current_z": 1.1667922151774652, + "required_z": 0.8611066272240556, + "initial_z": 0.7611066272240556, + "lift_margin": 0.3056855879534096, + "gripper_z": 1.1563404477791477, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.374078882881812, + -0.09083721147084337, + 1.1563404477791477 + ], + "object_minus_gripper": [ + 0.0039848870627476884, + 0.00416419187644558, + 0.010451767398317546 + ], + "object_to_gripper_xy": 0.005763663668770868, + "object_to_gripper_z": 0.010451767398317546, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3780637699445597, + -0.11028320500379687, + 1.1667922151774652 + ], + "finger_b": [ + 0.3684858836522753, + -0.08667301959439778, + 1.1667922151774652 + ], + "finger_midpoint": [ + 0.3732748267984175, + -0.09847811229909734, + 1.1667922151774652 + ], + "object_minus_finger_midpoint": [ + 0.004788943146142199, + 0.011805092704699552, + 0.0 + ], + "finger_gap": 0.025478947405537203, + "fingertip_max_gap": 0.09248312627682079, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012739473702768608, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1667922151774652, + "object_top_z": 1.2165252758861942, + "finger_top_clearance": 0.04973306070872896, + "fingertip_min_top_clearance": 0.01491991821261872, + "object_projection_between_fingers": 0.8586888635668678, + "object_to_finger_line_xy": 0.008875392989815259, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048741563138410396, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.488849958044622, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 351, + "max_stable_success_frames": 351, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33092536831471875, + -0.3253639984863954, + 0.8515396344337915 + ], + "target_position": [ + 0.3244533465749793, + -0.3259393098036034, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0064975417283282925, + "xy_threshold": 0.08, + "gripper_dist": 0.18258537462661223, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396344337915, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07513948451088452, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08714230036361141, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15171965663082623, + "release_required_pad_clearance": 0.05357115018180571, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.1533101857997505, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00781261920928955, + "max_z_decrease": 0.00781261920928955, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503690454093062, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00781261920928955, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02141413585956352, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00781261920928955, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007812637792760183, + "max_button_displacement": 0.12, + "button_start": [ + 0.1801532655954361, + -0.38220077753067017, + 0.7768088579177856 + ], + "button_final": [ + 0.1801532655954361, + -0.38220077753067017, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18087719465421861, + -0.38369136231255674, + 0.8039937290102784 + ], + "closest_button": [ + 0.1801365613937378, + -0.3822041451931, + 0.7689962387084961 + ], + "closest_ee_minus_button": [ + 0.0007406332604808219, + -0.001487217119456763, + 0.03499749030178234 + ], + "button_min_z_position": [ + 0.1801365613937378, + -0.3822041451931, + 0.7689962387084961 + ], + "min_active_finger_to_button": 0.14506262623661773, + "closest_active_finger": [ + 0.040253639221191406, + -0.366551011800766, + 0.8080129623413086 + ], + "closest_active_finger_button": [ + 0.18016447126865387, + -0.382205605506897, + 0.7730407118797302 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13991083204746246, + 0.01565459370613098, + 0.03497225046157837 + ], + "min_contact_pad_to_button": 0.02141413585956352, + "closest_contact_pad": [ + 0.1801365613937378, + -0.3849718876383715, + 0.7902307581607579 + ], + "closest_contact_pad_button": [ + 0.1801365613937378, + -0.3822041451931, + 0.7689962387084961 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002767742445271504, + 0.021234519452261846 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 9, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "workflow_spec_digest": "1a784f28b2d2f8dcfa6b5b02a1a1adef1691519e66526d3369bc2315d7d50630", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ae9d0ac2b51b8a54dc3bdb3eb8df52553b409c52503e435f5c3dc7b08b74ce9c", + "visual_seed": 8596645957328348799, + "episode_index": 9, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511 + ], + "runtime_workflow_digest": "2397549b01d57e69a64448497f735015a1166010fe597af1bcceb3b37a708b2b" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/summary.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..4bb88d1ec76daa960beb1882adc0e6428efeef97 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00031/results/summary.json @@ -0,0 +1,9 @@ +{ + "scope": "published_success_subset", + "case": "lab3_heat_2beaker_s03_plr_hta_00031", + "family": "lab3_v1", + "published_episodes": 100, + "published_successes": 100, + "published_failures": 0, + "matched_success_results": 100 +} diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0000.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0000.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c18a322caa6392abec9944835cf73213e4ef730b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0000.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1f12ef3518cda2ced82fe19640f4a548e3e3de9d46e7e47f7c5cfa3317c23a2e +size 5523128 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0001.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0001.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9bb8808a02bbfeac3dae7a11d1605a86b9c6d028 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0001.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f4bb22da3dc2dfb25b2a947627785ba27420f8e2aed1071b2984b072caa1d52b +size 5191140 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0002.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0002.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ffd8b476889eddf378368f3fad5ecb539904157c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0002.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:514466a8f60f741c1940ea8009d10f987c80b224fcf867b64f57235dc2ce9076 +size 5655498 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0003.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0003.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c05a0d03a9d369ad254d8914aea7a483c7f82531 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0003.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8b584c5d1c98bfde69873fbec84bdba24e3fad9368eba0396165b5f9af2b76cb +size 5223546 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0004.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0004.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4a9f8d36329dbc04c4ca857fa5092b8dcf22eacd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0004.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:de6fcb829f9871a7a563d677452b102d12c4081de4119676b2cb684519c534e7 +size 5227920 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0005.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0005.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a8ef6902a427052d645df2c0a1312584e4daa67a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0005.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:da756481bba8585a1bd00e2319bcb2d74eb293a9c8040c2b453964c3fed447d3 +size 5196486 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0006.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0006.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b879c1e84fab051894336b202844394ae953a6f0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0006.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:00f64c699b09984f15feec873adcb066a7726b8f5d86ebfd21d0ed854db3a388 +size 6789631 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0007.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0007.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0ffe14c66bc873aab7fbfa68afa060b745e86a84 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0007.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ad20afd9859a90ad66628f1654663bf87e4550de10f47f741d2e7049199054cf +size 4844031 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0008.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0008.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b4f6e2ce8d15e222059771af550464a3302c051a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0008.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:461dab0acfa238aa4fdb1895cf9437bba3d14fb2457314eb2627689eefd00556 +size 4592288 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0009.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0009.h5 new file mode 100644 index 0000000000000000000000000000000000000000..dbe3af443af203a9e92cdb2bd451680ba8a95b9d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0009.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f2b75fa9cb6a978a46d4a2b6b84247b02d8df595240b256df682b1e293c8f86f +size 6340073 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0010.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0010.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1517f0eb844497fcff37341d21f08717be65679c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0010.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e886d81d0cb142a7e443c74f78d2c765f4f99bfb7bc1a98aa4478b29e07b2c41 +size 6750127 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0011.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0011.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9b94c6a34b27a56806bdddf38004eeaaff406f9f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0011.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:92b16bc9fbbc25e53ca5aa540fbc6b668b0c664ebccc2a961e1ef3c005fe32d9 +size 4560712 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0012.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0012.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c6e62ec37c2cbbb815cbed51beb5644e560d3d6f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0012.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7612afa9a895fe2ea27ea8c9254c9c5e5c8162b7f34a16095c9bea81c10dd833 +size 5202308 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0013.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0013.h5 new file mode 100644 index 0000000000000000000000000000000000000000..56f0b086f7641b0dd0b9a2a982d3c99bca601f39 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0013.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:404eaa2597746fbe952f0eed1dcb9dff58b89f4f9dfdb4292ef44eb768ed0fa9 +size 5041755 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0014.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0014.h5 new file mode 100644 index 0000000000000000000000000000000000000000..11e4da152b0648f205c6fe8ea90dce50b50ca9f0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0014.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a213387857abf27bd376bf2338fc784fb78fb9553863205f7cfbd0d28bb033a6 +size 4659237 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0015.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0015.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5e12440ea0190cd235c246273f7584a8034e34ac --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0015.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:02e2921a893c7b009cbbf61ba5313393884e0d24610db0c9d203adcc71ecd833 +size 4566282 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0016.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0016.h5 new file mode 100644 index 0000000000000000000000000000000000000000..16875f4175edaffbf81fe5dd4358dea8b67dbdf9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0016.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b10e2e3e3675af20e76f21f09f945a4989b797ac537aea798122e05a289b0156 +size 4417476 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0017.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0017.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1561966cc21a3165d2128d3ff57ac89d63d21df7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0017.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6457713ae9415d9560cdbdbdc4779f13f0ede4ae6f7ad0444061cd652e77f716 +size 4269035 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0018.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0018.h5 new file mode 100644 index 0000000000000000000000000000000000000000..18a7b0cbccbf46afdf2b688565aaf4abf5e6e82c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0018.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:54389edcafe67497cfe2a31ee7f7e269fe2f35e6f386069a7973a53295df861a +size 6517854 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0019.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0019.h5 new file mode 100644 index 0000000000000000000000000000000000000000..82951f3f8fce39c7dee0c3c5c5839f4b6b4ded70 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0019.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0f1ed845845f13a88807949f801003710934e31bd3128b37a5e5bced41d074e2 +size 4442185 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0020.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0020.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c4143a9390419bea3dd6815701493e4d4343e5c1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0020.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2f843f1bd618e9940e357d6e0608d7b246de7171ad4d9ea68e7d5d789804749f +size 6105874 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0021.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0021.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ebce4b333b41f35e936111d26aef2631b1e084fe --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0021.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:328698a2aae221e901b885ba397b251a3cde00b23e1700ff470b819161df0377 +size 6342438 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0022.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0022.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fd67225383a8ab16adc33714b07e8755d1679bfb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0022.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5bc4be553a1e4813350f8c0687701c64844117dac6346cb0a9add1b97ef8e918 +size 6291031 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0023.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0023.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0eda20b326a9751b5e10d71afcc8193ef507a282 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0023.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:21c6b85aac4bcfbc2bcc4bef171e0aa327f9ab11338b80490d899becb454a36b +size 5451638 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0024.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0024.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ed518f726141c0a60192da38c169a9d9c5b567b2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0024.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fbc4b5cee186d038f4147a444cc6731b2c98bca6fd045b5c7a1927e36a781c1c +size 4569797 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0025.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0025.h5 new file mode 100644 index 0000000000000000000000000000000000000000..70e195d8b8f8a3d5e3b8ddd1af3e4b3c65650c4d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0025.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d9275c28cb2828ad5951b0220aebf01dc1e6b42e2c481ab69f25f2fc330baaeb +size 5995075 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0026.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0026.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1267b0e5d71c9a44266d70f4108805a256531393 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0026.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:85f19e305bf3afeee6698af885cfcd62d169eb628a385b95162f5164a7db25b3 +size 5745239 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0027.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0027.h5 new file mode 100644 index 0000000000000000000000000000000000000000..163ee1be0a0160f4e8d366273e2563aabcb7a5b7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0027.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3a6b233fee3f15b07ff89516f6b2c9e78717fd0d4e5a50828ee7907025a3a724 +size 4654222 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0028.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0028.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f9203c862c4e1da5e6d372a84531b46b6028fadf --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0028.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:705d4103cdceff64c0b8866e9a2a57d6fcc90044e018a0282edcf31f94db5081 +size 4531992 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0029.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0029.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8c5cfa41e387955f8b4408cabf1c905106bdb15e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0029.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:892605ee6413828c758a6d8354a4efdd102ccb848946bd02f66318bc1fc8e1d0 +size 5868424 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0030.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0030.h5 new file mode 100644 index 0000000000000000000000000000000000000000..60113e6b5f619ddeb820e4fd5c6b805d495e372f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0030.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b0c24fec5d730648c7e75c37e45156c116b32ea80cbc3e7dd1ac172355244e15 +size 4973276 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0031.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0031.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e60d7c570d4787deffb21068be63e47dc8b5ae48 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0031.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:22d0ceb98a2a42ca33336d814aac03c24b35e2667a632d6ed29d5634354ee6a0 +size 5462295 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0032.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0032.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1168bce01c8f4a47d9042903d4427c39a9e6c5d5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0032.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8f834118936361f9daf6a31fdd00c135702bc6402d87cc07759405300b14d974 +size 6019101 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0033.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0033.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cd4a86af1def88af573334c7a9c38621948db2c6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0033.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c4f0a2ed4620ddcfa27f72abc41321fbbaee6f63a213c18a3a3a2441d91c6b6b +size 7907963 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0034.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0034.h5 new file mode 100644 index 0000000000000000000000000000000000000000..eb354d24ccbb228b7f03ece3e9cc002f5126346f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0034.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5d1b727e658a878f345991d5a747227aa28edfc43f16b37dedf3d18b00e7a842 +size 7064535 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0035.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0035.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d608a380a0980077703e8849a9cf8aa86871c149 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0035.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9fbc0b07ea47cf05b42c883fe298c9605bc779ce55823eb3ea13f19f69849843 +size 4282569 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0036.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0036.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6ce98f056196a57b53a1ab666ad2fa0ceacf9355 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0036.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:af01910aa320926fb3467956c6d59916934891e8b3d5972993e5ef3b9a479857 +size 4544218 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0037.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0037.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6f79fbc88e322a6462ae266ead44dc2f6c3a619d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0037.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2686fccf0fe085f833695a056fd3c1e0ad35b59c3549c09e774e17c157f3c423 +size 4837702 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0038.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0038.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3f2c343e8215aff3afb2536baad93196f1c282cc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0038.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:33c5670fa3d7688172e289b0e3f7a678cf0bec6a69058f156b2a2753e706cfdb +size 5733052 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0039.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0039.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bb9f85745a9c09aa30a38c803a9879e5e2831f42 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0039.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b04da903d53e2972e8eaa73d76769547e0c9a009136e8ede912d8e351eecca96 +size 4859751 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0040.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0040.h5 new file mode 100644 index 0000000000000000000000000000000000000000..116e3a6a04da5563e6acc3f9b20bcc8a227da799 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0040.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4d9286e2d6e13720a429a92d8e2f4efc219619b59942237bbeed42585ce80d9b +size 4861771 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0041.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0041.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b5a34d867ea8152ba7184a0964161ef589c51cae --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0041.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:941b23ebdbe880f9f5a6693f1d84656d384a6568894024349ed4fdfd2fea3764 +size 4791934 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0042.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0042.h5 new file mode 100644 index 0000000000000000000000000000000000000000..299d0ce794a68aa71d5f417764bd5e11782f40dd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0042.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d6b617eca06f18118ab7208d25d11666ff2a9fe7ad397a0c857fba18d928dac5 +size 5894063 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0043.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0043.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9fe037fd4ca334598c76939a72d8ef4a8336b3de --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0043.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:33ccc68947cced57d3347d202812cfe89cd0797f513dc56ce90ed0c098387211 +size 5435571 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0044.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0044.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fdae39f0d0049923e2d25f63d44581dcf1c26a0f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0044.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1e78234dd830daac5206198a22fef832bebbb71d04b08f1cac849b2c95b3e2fc +size 4931244 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0045.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0045.h5 new file mode 100644 index 0000000000000000000000000000000000000000..99f86652ef599c6507f1c3b55a886fd1d2445951 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0045.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fc648c2e456d73dba4d0755417c8d1ff0f7f02b3e1eeb5619bec3ef40fe392db +size 5714384 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0046.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0046.h5 new file mode 100644 index 0000000000000000000000000000000000000000..345691f9530ffc9fb969613ad26bce856d26eaed --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0046.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eedbb086acb2efb742e6e9cb6185eacdfa94b2b405a6110ba62dc691952b750b +size 7298536 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0047.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0047.h5 new file mode 100644 index 0000000000000000000000000000000000000000..07ca06d8c9e55e90a06eac45f7004fb34f117e99 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0047.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3c1baae2061bc01c2ca399a9978a2f2fbbe7167f41eabe3d97128deb4660f9ad +size 4831726 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0048.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0048.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5e3652d1ef53c5bda06f9f05e426416be3ae795b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0048.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b283e69d71914d9666f4e433ef73db711b7dc1e038990a0029d50b6fd68a3fc9 +size 6347704 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0049.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0049.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6e07808b266e02ee30fe7fa0ea1973f8f0a721a9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0049.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f91ad820c2040cf2b68cfc901f22213bc735dd0650661c96bdcd6d4f41bb6c4f +size 5054016 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0050.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0050.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a93f1f0ff8d9438a2a61dd939116387355997864 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0050.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4627aff246e5d331a7666df6807da447c206e20d7473b0c13da0a20231f0e949 +size 6433447 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0051.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0051.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b5dec21ff4258ed1a39717d6f0e4da3b81989a9c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0051.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3578512ce780a5bcf572989ad373e96f0d046fb4163792aa43ba52f31b985ce4 +size 6310197 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0052.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0052.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f41b3eb94166edb941f89a22c5b44690c758847f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0052.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ca2d46a2c6a53779c0f45395a523bd624af4201a60a2054ce96954957069f122 +size 5075656 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0053.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0053.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a8a0eff36a9bf08aaf4b05c4c12c891a15ed0360 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0053.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b4bf36fb439fc27dfa77073952a9991215f8703174f700f728f264aed8a2bc1b +size 5691527 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0054.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0054.h5 new file mode 100644 index 0000000000000000000000000000000000000000..20737f10d8f8dc52077b4f511b56a915eda8d2a3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0054.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:22cc826c8e5fa83c782f21478a5ca72bcedfa952537a8cc690a32283dfa6a7b2 +size 5762820 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0055.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0055.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c930edc44be140d4618b2510b0d794484339bc00 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0055.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:133173459d44bbf0d9d60c6ebe230ff1b07d2cf542266df4d4473dd6af04ff26 +size 4975163 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0056.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0056.h5 new file mode 100644 index 0000000000000000000000000000000000000000..80273a07a45f0917b6d65e478804e6f23ce42cb7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0056.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0e37231750a8cdd6bc8cf642441951aefc7345c80380d8a266fff3235cc4b3ec +size 4528917 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0057.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0057.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e9e7fc0dc568c85d7fe349e10c7e9283a9690883 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0057.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2202159c6229b1bf12e1d334d528203804668bb14cd9acef48319a58df91adff +size 4915508 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0058.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0058.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a3627a46b0e886311c1479da1a583071b5938881 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0058.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d65a16deab0d6ff93e4f8100df8d595001174ee3af541f304d93ac0e5be92d59 +size 4825341 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0059.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0059.h5 new file mode 100644 index 0000000000000000000000000000000000000000..39dc31992fa0bede8770eefd79890d4dc8d118b7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0059.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7c1f15e4e52938d977cc8f0b7a753023e99ae754c1105408a9d39b79dc262fc1 +size 5685098 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0060.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0060.h5 new file mode 100644 index 0000000000000000000000000000000000000000..83f8fb9760fbde1eebb73d3f041a64dc56823d44 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0060.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:55930117da493eaff168b11c5ddc4546f364c0242d37a1d48b3d5b69ab981af0 +size 5857622 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0061.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0061.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f5475b3ed90b86611728889fb303e4eeb7619468 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0061.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c9488015e4351dcda55c32232047f9d0fab544b97418917bb411790b03585250 +size 4518579 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0062.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0062.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9446b9899b500d44165818413e90b722d4c1b0e5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0062.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c97ed0ba089765ddacb964b05f89da9fb9f9ba7642c63753cfd27ae3a230c6a5 +size 7873506 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0063.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0063.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f586a46b1b3674dea8a24c0bb3a3b164c837b11c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0063.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4f82a90d41a24ffba89c75e2ba627ba619fba4964d37c3958d8c375144c96907 +size 5779926 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0064.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0064.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b3bf252ba4f0555ae382a39d513f9cf5a55f566e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0064.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b1f6b507be2b50ae7f4e0646da880459a9b7f87d5c279a5714c4833769b9f699 +size 4624921 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0065.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0065.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a70fcf9af8cf9775932b2f8c756a66123ff8848f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0065.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e3ccdc2800c26d1c6b66da5c6880736366b8cdfbcbf980861e83a5a5625262e1 +size 4426303 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0066.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0066.h5 new file mode 100644 index 0000000000000000000000000000000000000000..87bff262076fa6564df48df24428735246e37396 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0066.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e98ee537f5f5bf747c897ca0996a10248bfcfd1800949a22d997c3d376672edc +size 5142062 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0067.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0067.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8c2b10bfa446a2dc5c55c6d69fd9569ee5582a4b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0067.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a94fbe90e6135231b7c1ab0f6c20e3155aa43cd3aee5e6f64f4e993c383b38df +size 5140448 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0068.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0068.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0e59541c676acd8402b421e46de77418ea16bbb5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0068.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a83e917980a67719d987ffc5d01905c2a54bbec3c5c9a4c9f05f947c57e53146 +size 4331564 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0069.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0069.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6e2b1f9975f5aa50758cbde8a116bd35721927d4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0069.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bd9b08b045f68211c5d7fd7db6773ea1943cd3e8cf4efd950bf7881478a5f236 +size 7010755 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0070.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0070.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b788e3153c28331df91846375c9b4cc2c8c5e94b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0070.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fe3f852681267e19a6333bd4d480aa96d75fce1ac874c5cde31960a9c8cd9c81 +size 4747916 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0071.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0071.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f7458f164a6134501693410c75a413b6bbd59e8a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0071.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1e6222e273be1bce83bd639611b2dc9ded99ed712646436106501a899f7f67b7 +size 6048700 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0072.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0072.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d68f331739e4542a63293f82861a2263383795d9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0072.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2d145e96e11c12f3c89201b5c3d713c34c6824501e7900658f40a961f61b4acd +size 4417192 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0073.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0073.h5 new file mode 100644 index 0000000000000000000000000000000000000000..88e991bfa45419d77d5de04a3bffe378e20c2669 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0073.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0482c9ff1df3892b3af309889308ddc297f9845d11a5c18403623290b02b3e35 +size 5612480 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0074.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0074.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a8bee6e39ff22e010f306266de9aaf593b9c7e37 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0074.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:484a7bf0587a7e3dfb89a14bf71a6e33d1c823789ee1335432a8bf29c5ba00cf +size 5443982 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0075.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0075.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4eca2798e6d835c771d7311e22dd994e5bc9c98c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0075.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6d3b2d17a7fb9a810594017371b864280592d0a0f3c0df9c2682c06365a5ded6 +size 4346441 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0076.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0076.h5 new file mode 100644 index 0000000000000000000000000000000000000000..babf79b18dc9f17ea327340aad0ca6ab913ecfd8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0076.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d2d8eb278bcad92b71a996fc2e978770a06460707114db5f3e46415bcbe959f3 +size 5934457 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0077.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0077.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ce10cf2e6a8c7bdcccdfa878dd5b25f6f342253b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0077.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:01ecbdcc68c0501dc52b777c743dfd1db404d29fe03d906a41c46f42b2ef0df1 +size 6637354 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0078.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0078.h5 new file mode 100644 index 0000000000000000000000000000000000000000..307ae4e9c2e3460894d1fd0d255041c69d8c15d3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0078.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:61d1725ba60cbcb2569b76dcc630cd67a52709e0fa38b388b6fe1cfab57346fa +size 5214502 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0079.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0079.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b8a2dd7b8de61f2b5e3ef4de5278e91267438b8d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0079.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:82a69443f379c5b23d71c4966c037e637b51c233fd9c899ffb33755844b34257 +size 4784383 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0080.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0080.h5 new file mode 100644 index 0000000000000000000000000000000000000000..91c5b9e01143a08bf06370bf3e3e084bfdef09eb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0080.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eb00acd0e2ac5e86f8c8c262e9b89950c418c8208c1497ab3c328025b7b4de58 +size 4770310 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0081.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0081.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7f7e2cb52aeaf25a5a4bd1d21a3c1d0e68c4ecd4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0081.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7c29d9a20875388483cd0d54f42b71a7ea80c4a3e6af4ad5b6d9b6f73228aea2 +size 5652341 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0082.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0082.h5 new file mode 100644 index 0000000000000000000000000000000000000000..43a94a3f54f79a2c06b2e30875f162fe5fd8304f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0082.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:92c21275f016ad412241d13f009e1f0141d4b33f3cea92c572278049e9107858 +size 5853146 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0083.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0083.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bf0e864b429a6be9cb871d1850333a242fefe86b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0083.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ef114667a4f7269e71807992e08cbf728817de6be8b6510132142f5d58e4aee3 +size 4929268 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0084.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0084.h5 new file mode 100644 index 0000000000000000000000000000000000000000..71bd2be96985f1124b78e3f7f0acb67e22b2cef8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0084.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:54b0b13aecf1bcd51d01dce3b707964b09f872fc8df3ec0f576db92712ff138e +size 6011223 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0085.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0085.h5 new file mode 100644 index 0000000000000000000000000000000000000000..273ae10d985aa0af5bb0a2c6840a81778e34c96d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0085.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fbf69c03f9fe934c0d7040be3d7bb81f3e4ecf0f3b6733d1c66b024526941ccc +size 5797604 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0086.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0086.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6877d55b3bbf0e1905b59fd94b184a901666d69d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0086.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:539f3cdc5232f89fdd7a8b19deafbf3bdf461e7702626d4a7ec2fe35df66fb2d +size 4040815 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0087.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0087.h5 new file mode 100644 index 0000000000000000000000000000000000000000..445704bd40b01cc313a198a8f8626e9ced843de0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0087.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:16d6fd6fd66ca91676a13dc12796224462b9c41fca58d461cd79ec6f200f5324 +size 4826896 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0088.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0088.h5 new file mode 100644 index 0000000000000000000000000000000000000000..22ab42468120df4b304260a42fbf7f57afe86d1d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0088.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c0dd6c4c63381a53d7c0bc280d5e6da7703c7bb47402943747bf7e7729d60f46 +size 5342022 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0089.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0089.h5 new file mode 100644 index 0000000000000000000000000000000000000000..90258f7a5bf16686fef5c35e4925a9949d073ee8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/dataset/episode_0089.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5715d1a86dfb21b9798d76813663fd289505fa52f82c7ceb324e908034446bd2 +size 5577046